diff --git a/.github/actions/build-and-test/action.yaml b/.github/actions/build-and-test/action.yaml
new file mode 100644
index 00000000..74742c1a
--- /dev/null
+++ b/.github/actions/build-and-test/action.yaml
@@ -0,0 +1,50 @@
+name: build-and-test
+
+inputs:
+  ros-distribution:
+    description: string, ROS distribution to setup
+    required: true
+  zenoh-version:
+    description: string, version of eclipse-zenoh to install from pip
+    required: true
+  nav1-integration-testing:
+    description: string, supports ON or OFF only
+    required: false
+    default: "OFF"
+  nav2-integration-testing:
+    description: string, supports ON or OFF only
+    required: false
+    default: "OFF"
+
+runs:
+  using: composite
+  steps:
+    - name: install dependencies
+      run: |
+        sudo apt update && sudo apt install python3-pip -y
+        pip3 install eclipse-zenoh==${{ inputs.zenoh-version }} pycdr2 rosbags --break-system-packages
+      shell: bash
+
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ inputs.ros-distribution }}
+
+    - name: build and test
+      uses: ros-tooling/action-ros-ci@v0.3
+      with:
+        package-name: free_fleet free_fleet_adapter free_fleet_examples
+        target-ros2-distro: ${{ inputs.ros-distribution }}
+        colcon-defaults: |
+          {
+            "build": {
+              "cmake-args": [
+                  "-DNAV1_INTEGRATION_TESTING=${{ inputs.nav1-integration-testing }}",
+                  "-DNAV2_INTEGRATION_TESTING=${{ inputs.nav2-integration-testing }}"
+              ],
+              "mixin": ["coverage-pytest"]
+            },
+            "test": {
+              "mixin": ["coverage-pytest"]
+            }
+          }
+        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
diff --git a/.github/docker/integration-tests/nav1-docker-compose.yaml b/.github/docker/integration-tests/nav1-docker-compose.yaml
new file mode 100644
index 00000000..b3dfbcdd
--- /dev/null
+++ b/.github/docker/integration-tests/nav1-docker-compose.yaml
@@ -0,0 +1,31 @@
+services:
+  minimal-ros1-sim:
+    image: ghcr.io/open-rmf/free_fleet/minimal-ros1-sim:noetic-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+
+  minimal-nav1-bringup:
+    image: ghcr.io/open-rmf/free_fleet/minimal-nav1-bringup:noetic-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+
+  minimal-zenoh-bridge-ros1:
+    image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge-ros1:noetic-latest
+    network_mode: host
+    stdin_open: true
+    tty: true
+
+  minimal-zenoh-router:
+    image: eclipse/zenoh
+    restart: unless-stopped
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - RUST_LOG=debug
diff --git a/.github/docker/integration-tests/nav2-docker-compose.yaml b/.github/docker/integration-tests/nav2-docker-compose.yaml
new file mode 100644
index 00000000..47c22b5d
--- /dev/null
+++ b/.github/docker/integration-tests/nav2-docker-compose.yaml
@@ -0,0 +1,27 @@
+services:
+  minimal-nav2-bringup:
+    image: ghcr.io/open-rmf/free_fleet/minimal-nav2-bringup:jazzy-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+    environment:
+      - ROS_DOMAIN_ID=42
+
+  minimal-zenoh-bridge-ros2dds:
+    image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge-ros2dds:jazzy-latest
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - ROS_DOMAIN_ID=42
+
+  minimal-zenoh-router:
+    image: eclipse/zenoh
+    restart: unless-stopped
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - RUST_LOG=debug
diff --git a/.github/docker/minimal-nav1-bringup/Dockerfile b/.github/docker/minimal-nav1-bringup/Dockerfile
new file mode 100644
index 00000000..ab881b39
--- /dev/null
+++ b/.github/docker/minimal-nav1-bringup/Dockerfile
@@ -0,0 +1,21 @@
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y curl ros-$ROS_DISTRO-turtlebot3-navigation ros-$ROS_DISTRO-dwa-local-planner
+
+RUN mkdir -p /tb3 && cd /tb3 \
+  && curl -sL https://github.com/ros-navigation/navigation2/archive/refs/tags/1.3.4.tar.gz -o navigation2.tar.gz \
+  && mkdir -p /tb3/navigation2 && tar zxf navigation2.tar.gz -C /tb3/navigation2 --strip-components=1 && rm navigation2.tar.gz
+
+ENV TURTLEBOT3_MODEL=burger
+
+# Modify existing launch file to add initial pose
+RUN cd /tb3 \
+  && curl --output turtlebot3_navigation.launch "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/refs/heads/noetic-devel/turtlebot3_navigation/launch/turtlebot3_navigation.launch" \
+  && sed -z 's|amcl.launch"/>|amcl.launch"><arg name="initial_pose_x" value="-2.0"/><arg name="initial_pose_y" value="-0.5"/></include>|' turtlebot3_navigation.launch > turtlebot3_navigation_edited.launch
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch --wait /tb3/turtlebot3_navigation_edited.launch map_file:=/tb3/navigation2/nav2_bringup/maps/tb3_sandbox.yaml open_rviz:=false"]
diff --git a/.github/docker/minimal-nav2-bringup/Dockerfile b/.github/docker/minimal-nav2-bringup/Dockerfile
new file mode 100644
index 00000000..b220bf6d
--- /dev/null
+++ b/.github/docker/minimal-nav2-bringup/Dockerfile
@@ -0,0 +1,22 @@
+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y curl ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+
+RUN mkdir -p /tb3 && cd /tb3 \
+  && curl -sL https://github.com/ROBOTIS-GIT/turtlebot3_simulations/archive/refs/heads/master.tar.gz -o turtlebot3_simulations.tar.gz \
+  && mkdir -p /tb3/turtlebot3_simulations && tar zxf turtlebot3_simulations.tar.gz -C /tb3/turtlebot3_simulations --strip-components=1 && rm turtlebot3_simulations.tar.gz
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV GAZEBO_MODEL_PATH="$GAZEBO_MODEL_PATH:/tb3/turtlebot3_simulations/turtlebot3_gazebo/models"
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+# Modify existing params file to add initial pose
+RUN mkdir -p /params && cd /params \
+  && cp /opt/ros/$ROS_DISTRO/share/nav2_bringup/params/nav2_params.yaml . \
+  && sed -z 's|amcl:\n  ros__parameters:\n|amcl:\n  ros__parameters:\n    set_initial_pose: true\n    initial_pose: {x: -2.0, y: -0.5, z: 0.0, yaw: 0.0}\n|' nav2_params.yaml > nav2_params_edited.yaml
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=/params/nav2_params_edited.yaml use_rviz:=False"]
diff --git a/.github/docker/minimal-ros1-sim/Dockerfile b/.github/docker/minimal-ros1-sim/Dockerfile
new file mode 100644
index 00000000..464f6137
--- /dev/null
+++ b/.github/docker/minimal-ros1-sim/Dockerfile
@@ -0,0 +1,12 @@
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y ros-$ROS_DISTRO-turtlebot3-gazebo ros-$ROS_DISTRO-gazebo-ros-pkgs
+
+ENV TURTLEBOT3_MODEL=burger
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch turtlebot3_gazebo turtlebot3_world.launch gui:=false"]
diff --git a/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile b/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile
new file mode 100644
index 00000000..6e45ba7b
--- /dev/null
+++ b/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile
@@ -0,0 +1,36 @@
+### Build bridge
+
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG ZENOH_BRIDGE_REPO=eclipse-zenoh/zenoh-plugin-ros1
+ARG ZENOH_BRIDGE_TAG=main
+ARG FREE_FLEET_BRANCH=main
+
+RUN apt update && apt install -y build-essential curl git unzip wget
+
+# Get Rust
+RUN curl https://sh.rustup.rs -sSf | bash -s -- -y
+
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
+  && git clone --recursive https://github.com/$ZENOH_BRIDGE_REPO -b $ZENOH_BRIDGE_TAG zenoh-plugin-ros1 \
+  && cd /zenoh-bridge/zenoh-plugin-ros1 \
+  && cargo build --package zenoh-bridge-ros1 --bin zenoh-bridge-ros1 --release
+
+RUN cd /zenoh-bridge \
+  && wget -O nav1_tb3_zenoh_bridge_ros1_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+### Set up bare minimum zenoh-bridge-ros1 image
+
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+COPY --from=0 /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5 /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5
+
+COPY --from=0 /zenoh-bridge/zenoh-plugin-ros1/target/release/zenoh-bridge-ros1 /zenoh-bridge/zenoh-bridge-ros1
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros1 -c /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5"]
diff --git a/.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile b/.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile
new file mode 100644
index 00000000..60cf6a81
--- /dev/null
+++ b/.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile
@@ -0,0 +1,22 @@
+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG ZENOH_VERSION=1.1.0
+ARG FREE_FLEET_BRANCH=main
+
+RUN apt update && apt install -y wget unzip ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+
+RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
+  && wget -O zenoh-plugin-ros2dds.zip https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/download/$ZENOH_VERSION/zenoh-plugin-ros2dds-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip \
+  && unzip zenoh-plugin-ros2dds.zip \
+  && rm zenoh-plugin-ros2dds.zip
+
+RUN cd /zenoh-bridge \
+  && wget -O nav2_tb3_zenoh_bridge_ros2dds_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5"]
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
deleted file mode 100644
index 988d1409..00000000
--- a/.github/workflows/build.yaml
+++ /dev/null
@@ -1,39 +0,0 @@
-name: build
-on:
-  pull_request:
-  schedule:
-    - cron: '0 0 * * *'
-
-jobs:
-  ros_build:
-      strategy:
-        fail-fast: false
-        matrix:
-          checks: [
-            { ROS_VERSION: "ros2", ROS_DISTRO: "humble", UBUNTU_DISTRO: "22.04", PACKAGES: "
-            free_fleet_server_ros2"},
-            { ROS_VERSION: "ros1", ROS_DISTRO: "noetic", UBUNTU_DISTRO: "20.04", PACKAGES: "
-            ff_rviz_plugins_ros1
-            free_fleet_client_ros1" },
-          ]
-      name: ${{matrix.checks.ROS_VERSION}}_build
-      runs-on: ubuntu-${{matrix.checks.UBUNTU_DISTRO}}
-      steps:
-        - name: pwd
-          run: pwd
-        - name: deps
-          uses: ros-tooling/setup-ros@v0.4
-          with:
-            required-ros-distributions: ${{matrix.checks.ROS_DISTRO}}
-        - name: build
-          uses: ros-tooling/action-ros-ci@v0.2
-          with:
-            target-${{matrix.checks.ROS_VERSION}}-distro: ${{matrix.checks.ROS_DISTRO}}
-            # build all packages listed in the meta package
-            package-name: |
-              free_fleet
-              ff_examples_${{matrix.checks.ROS_VERSION}}
-              ${{matrix.checks.PACKAGES}}
-            vcs-repo-file-url: |
-              https://raw.githubusercontent.com/open-rmf/free_fleet/main/ff_${{matrix.checks.ROS_VERSION}}.repos
-
diff --git a/.github/workflows/nav1-integration-tests.yaml b/.github/workflows/nav1-integration-tests.yaml
new file mode 100644
index 00000000..8ba74931
--- /dev/null
+++ b/.github/workflows/nav1-integration-tests.yaml
@@ -0,0 +1,45 @@
+name: nav1-integration-tests
+
+on: push
+
+jobs:
+  integration-tests:
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Install docker-compose
+        run: |
+          sudo apt update && sudo apt install docker-compose -y
+
+      - name: Start test fixture containers
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" up -d --build
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          nav1-integration-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" down
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          files: ros_ws/coveragepy/.coverage
+          flags: tests
+          fail_ci_if_error: true
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
diff --git a/.github/workflows/nav2-integration-tests.yaml b/.github/workflows/nav2-integration-tests.yaml
new file mode 100644
index 00000000..1d9cb3aa
--- /dev/null
+++ b/.github/workflows/nav2-integration-tests.yaml
@@ -0,0 +1,45 @@
+name: nav2-integration-tests
+
+on: push
+
+jobs:
+  integration-tests:
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Install docker-compose
+        run: |
+          sudo apt update && sudo apt install docker-compose -y
+
+      - name: Start test fixture containers
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" up -d --build
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          nav2-integration-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" down
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          files: ros_ws/coveragepy/.coverage
+          flags: tests
+          fail_ci_if_error: true
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
diff --git a/.github/workflows/nightly.yaml b/.github/workflows/nightly.yaml
new file mode 100644
index 00000000..417ab16e
--- /dev/null
+++ b/.github/workflows/nightly.yaml
@@ -0,0 +1,161 @@
+name: nightly
+
+on:
+  schedule:
+    # 2am SGT
+    - cron: '0 18 * * *'
+
+jobs:
+  build-minimal-nav2-docker-images:
+    name: Push minimal nav2 docker images to GitHub Packages
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution: [jazzy]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to docker
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push minimal-nav2-bringup
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+          tags: ghcr.io/${{ github.repository }}/minimal-nav2-bringup:${{ matrix.ros_distribution }}-latest
+          context: .github/docker/minimal-nav2-bringup
+
+      - name: Build and push minimal-zenoh-bridge-ros2dds
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+            ZENOH_VERSION=1.1.0
+            FREE_FLEET_BRANCH=easy-full-control
+          tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros2dds:${{ matrix.ros_distribution }}-latest
+          context: .github/docker/minimal-zenoh-bridge-ros2dds
+
+  build-minimal-nav1-docker-images:
+    name: Push minimal nav1 docker images to GitHub Packages
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution: [noetic]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to docker
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push minimal-ros1-sim
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+          tags: ghcr.io/${{ github.repository }}/minimal-ros1-sim:${{ matrix.ros_distribution }}-latest
+          context: .github/docker/minimal-ros1-sim
+
+      - name: Build and push minimal-nav1-bringup
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+          tags: ghcr.io/${{ github.repository }}/minimal-nav1-bringup:${{ matrix.ros_distribution }}-latest
+          context: .github/docker/minimal-nav1-bringup
+
+      - name: Build and push minimal-zenoh-bridge-ros1
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+            ZENOH_BRIDGE_REPO=aaronchongth/zenoh-plugin-ros1
+            ZENOH_BRIDGE_TAG=namespace
+            FREE_FLEET_BRANCH=easy-full-control
+          tags: ghcr.io/${{ github.repository }}/minimal-zenoh-bridge-ros1:${{ matrix.ros_distribution }}-latest
+          context: .github/docker/minimal-zenoh-bridge-ros1
+
+  nav1-integration-tests:
+    needs: build-minimal-nav1-docker-images
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Install docker-compose
+        run: |
+          sudo apt update && sudo apt install docker-compose -y
+
+      - name: Start test fixture containers
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" up -d --build
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          nav1-integration-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" down
+
+  nav2-integration-tests:
+    needs: build-minimal-nav2-docker-images
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Install docker-compose
+        run: |
+          sudo apt update && sudo apt install docker-compose -y
+
+      - name: Start test fixture containers
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" up -d --build
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          nav2-integration-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" down
diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
new file mode 100644
index 00000000..3d8803ce
--- /dev/null
+++ b/.github/workflows/style.yaml
@@ -0,0 +1,22 @@
+name: style
+on: [pull_request, push]
+jobs:
+  linter:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        docker_image: ['ros:rolling-ros-base']
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: deps
+        shell: bash
+        run: |
+          sudo apt update && sudo apt install pycodestyle
+
+      - name: pycodestyle
+        shell: bash
+        run: |
+          pycodestyle .
diff --git a/.github/workflows/unit-tests.yaml b/.github/workflows/unit-tests.yaml
new file mode 100644
index 00000000..0efc04c9
--- /dev/null
+++ b/.github/workflows/unit-tests.yaml
@@ -0,0 +1,24 @@
+name: unit-tests
+
+on: push
+
+jobs:
+  unit-tests:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+          - rolling
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          integration-testing: OFF
diff --git a/README.md b/README.md
index ef5101b3..68edf730 100644
--- a/README.md
+++ b/README.md
@@ -1,309 +1,404 @@
-![](https://github.com/open-rmf/free_fleet/workflows/build/badge.svg)
-
 # Free Fleet
 
-## Contents
-
-- **[About](#About)**
-- **[Installation Instructions](#installation-instructions)**
-  - [Prerequisites](#prerequisites)
-  - [Message Generation](#message-generation)
-  - [Client in ROS 1](#client-in-ros-1)
-  - [Client and Server in ROS 2](#client-and-server-in-ros-2)
-- **[Examples](#examples)**
-  - [Barebones Example](#barebones-example)
-  - [Turtlebot3 Fleet Server](#turtlebot3-fleet-server)
-  - [ROS 1 Turtlebot3 Simulation](#ros-1-turtlebot3-simulation)
-  - [ROS 2 Turtlebot3 Simulation](#ros-2-turtlebot3-simulation)
-  - [ROS 1 Multi Turtlebot3 Simulation](#ros-1-multi-turtlebot3-simulation)
-  - [Commands and Requests](#commands-and-requests)
-- **[Plans](#plans)**
+![Nightly](https://github.com/open-rmf/free_fleet/actions/workflows/nightly.yaml/badge.svg)![Unit tests](https://github.com/open-rmf/free_fleet/actions/workflows/unit-tests.yaml/badge.svg)![Nav2 Integration tests](https://github.com/open-rmf/free_fleet/actions/workflows/nav2-integration-tests.yaml/badge.svg)![Nav1 Integration tests](https://github.com/open-rmf/free_fleet/actions/workflows/nav1-integration-tests.yaml/badge.svg)[![codecov](https://codecov.io/github/open-rmf/free_fleet/graph/badge.svg?token=JCOB9g3YTn)](https://codecov.io/github/open-rmf/free_fleet)
 
-</br>
-</br>
+- **[Introduction](#introduction)**
+- **[Dependency installation, source build and setup](#dependency-installation-source-build-and-setup)**
+- **[Simulation examples](#simulation-examples)**
+  - [Nav2 Single turtlebot3 world](#nav2-single-turtlebot3-world)
+  - [Nav2 Multiple turtlebot3 world](#nav2-multiple-turtlebot3-world)
+  - [Nav1 Single turtlebot3 world](#nav1-single-turtlebot3-world)
+- **[Troubleshooting](#troubleshooting)**
+- **[TODOs](#todos)**
 
-## About
+## Introduction
 
-Welcome to `free_fleet`, an open-source robot fleet management system.
-Sometimes it is called the "Fun Free Fleet For Friends" (F5).
+Free fleet is a python implementation of the Open-RMF Fleet Adapter, based on the [`fleet_adapter_template`](https://github.com/open-rmf/fleet_adapter_template). It uses `zenoh` as a communication layer between each robot and the fleet adapter, allowing access and control over the navigation stacks of the robots.
 
-**Note**, this repository is under active development. Things will be quite unstable
-for a while. Please open an issue ticket on this repo if you have problems.
-Cheers.
+Using `zenoh` bridges to pipe the necessary ROS 2 / 1 messages between each robot and the `free_fleet_adapter`, users have the flexibility to configure and customize their network setups accordingly following the [official guide](https://github.com/eclipse-zenoh/zenoh?tab=readme-ov-file#configuration-options). Examples provided in this repository are using [these configurations](./free_fleet_examples/config/zenoh/), do take note of the selective topics that are required for the `free_fleet_adapter` to work. The `zenoh` configuration conveniently allows users to filter and limit the rate of messages based on topics as well, which will be helpful in deployments with limited network bandwidth.
 
-</br>
-</br>
+![](../media/architecture.jpg)
 
-## Installation Instructions
+Each robot's navigation stack is expected to be non-namespaced, while its `zenoh` bridge is expected to be set up with it's robot name as the namespace. This allows the `free_fleet_adapter` to integrate with each robot in the fleet individually using `zenoh` namespaces.
 
-### Prerequisites
+Supports
+* [Ubuntu 24.04](https://ubuntu.com/blog/ubuntu-desktop-24-04-noble-numbat-deep-dive)
+* [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/index.html)
+* [rmw-cyclonedds-cpp](https://github.com/ros2/rmw_cyclonedds)
+* [Open-RMF on main](https://github.com/open-rmf/rmf)
+* [zenoh-bridge-ros2dds v1.1.0](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/tag/1.1.0)
+* [zenoh-bridge-ros1 main](https://github.com/aaronchongth/zenoh-plugin-ros1)
+* [zenoh router](https://zenoh.io/docs/getting-started/installation/#ubuntu-or-any-debian)
 
-* [Ubuntu 20.04 LTS](https://releases.ubuntu.com/20.04/)
-* [ROS1 - Noetic](https://wiki.ros.org/noetic)
-* [ROS2 - Galactic](https://docs.ros.org/en/galactic/index.html)
+We recommend setting up `zenoh-bridge-ros2dds` with the released standalone binaries. After downloading the appropriate released version and platform, extract and use the standalone binaries as is. For source builds of `zenoh-bridge-ros2dds`, please follow the [official guides](https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds).
 
-Install all non-ROS prerequisite packages,
+As for `zenoh-bridge-ros1`, a custom fork is currently used to support bridge namespaces, and requires to be built from source. Once the changes have been merged upstream, this will be updated.
 
-```bash
-sudo apt update && sudo apt install \
-  git wget qtbase5-dev qtchooser qt5-qmake qtbase5-dev-tools \
-  python3-rosdep \
-  python3-vcstool \
-  python3-colcon-common-extensions \
-  # maven default-jdk   # Uncomment to install dependencies for message generation
-```
+Most of the tests have been performed using `rmw-cyclonedds-cpp`, while other RMW implementations have shown varying results. Support and testing with other RMW implementations will be set up down the road.
 
-> [!IMPORTANT]
-> In order to ensure messages using `cyclonedds` are sent, received, serialized and deserialized properly between the ROS 1 and ROS 2 systems, the version of `cyclonedds` used/built should be the same, this can be checked with `dpkg -l | grep cyclonedds` on ROS 2 systems, while ROS 1 systems will need to build `cyclonedds` from source. For ROS 2 versions above `galactic`, users will need to manage the versions of `cyclonedds` themselves. We are working on a newer iteration of `free_fleet` that does not use DDS and has access to newer features of `Open-RMF`, stay tuned!
+## Dependency installation, source build and setup
 
-</br>
+System dependencies,
 
-### Message Generation
+```bash
+sudo apt update && sudo apt install python3-pip ros-jazzy-rmw-cyclonedds-cpp
+```
 
-Message generation via `FleetMessages.idl` is done using `dds_idlc` from `CycloneDDS`. For convenience, the generated mesasges and files has been done offline and committed into the code base. They can be found [here](./free_fleet/src/messages/FleetMessages.idl).
+The dependencies `eclipse-zenoh`, `pycdr2`, `rosbags` are available through `pip`. Users can choose to set up a virtual environment, or `--break-system-packages` by performing the installation directly.
 
 ```bash
-./dds_idlc -allstructs FleetMessages.idl
+pip3 install pip install eclipse-zenoh==1.1.0 pycdr2 rosbags --break-system-packages
 ```
 
-</br>
+Install `zenohd` from the [official guide](https://zenoh.io/docs/getting-started/installation/#ubuntu-or-any-debian).
 
-### Client in ROS 1
+> [!NOTE]
+> If an Open-RMF workspace has already been set up, users can choose to only set up an overlay workspace, which reduces build time. The following steps will assume a fresh new workspace is required.
 
-Start a new ROS 1 workspace, and pull in the necessary repositories,
+Set up workspace, install dependencies and build,
 
 ```bash
-mkdir -p ~/ff_ros1_ws/src
-cd ~/ff_ros1_ws/src
-git clone https://github.com/open-rmf/free_fleet -b main
-git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.7.x
-```
+mkdir -p ~/ff_ws/src
+wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
+vcs import ~/ff_ws/src < rmf.repos
 
-Install all the dependencies through `rosdep`,
+cd ~/ff_ws/src
+git clone https://github.com/open-rmf/free_fleet
 
-```bash
-cd ~/ff_ros1_ws
-rosdep install --from-paths src --ignore-src --rosdistro noetic -yr
+# Install dependencies
+cd ~/ff_ws
+rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -yr
+
+# Build
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
-Source ROS 1 and build,
+Download and extract standalone binaries for `zenoh-bridge-ros2dds` (optionally `zenohd` if a non-latest version is desired) with the correct architecture, system setup and version. The following example instructions are for `x86_64-unknown-linux-gnu`,
 
 ```bash
-cd ~/ff_ros1_ws
-source /opt/ros/noetic/setup.bash
-colcon build
+# Change preferred zenoh version here
+export ZENOH_VERSION=1.1.0
+
+# Download and extract zenoh-bridge-ros2dds release
+wget -O zenoh-plugin-ros2dds.zip https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/download/$ZENOH_VERSION/zenoh-plugin-ros2dds-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip
+unzip zenoh-plugin-ros2dds.zip
+
+# If using released standalone binaries of zenoh router, download and extract the release
+# wget -O zenoh.zip https://github.com/eclipse-zenoh/zenoh/releases/download/$ZENOH_VERSION/zenoh-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip
+# unzip zenoh.zip
 ```
 
-</br>
+## Simulation examples
 
-### Client and Server in ROS 2
+Examples for running a single robot or multiple robots in simulation has been up in `free_fleet_examples`, along with example configuration files for `zenoh` as well as fleet configuration files for `free_fleet_adapter`.
 
-Start a new ROS 2 workspace, and pull in the necessary repositories,
+For ROS 2, simulations will be launched using the `nav2_bringup` package. Since the `turtlebot3_gazebo` package is not being released past jazzy, users will need to clone the package to access the gazebo models,
 
-```bash
-mkdir -p ~/ff_ros2_ws/src
-cd ~/ff_ros2_ws/src
-git clone https://github.com/open-rmf/free_fleet -b main
-git clone https://github.com/open-rmf/rmf_internal_msgs -b main
+```
+sudo apt update && sudo apt install ros-jazzy-nav2-bringup
+
+git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations ~/turtlebot3_simulations
 ```
 
-Install all the dependencies through `rosdep`,
+### Nav2 Single turtlebot3 world
+
+![](../media/ff_tb3_faster_smaller.gif)
+
+This simulates running an isolated (by `ROS_DOMAIN_ID`) turtlebot3 with a ROS 2 navigation stack, and setting up RMF with `free_fleet_adapter` (on a different `ROS_DOMAIN_ID`), allowing the fleet adapter to command the robot via a configured `zenoh-bridge-ros2dds` with the namespace `nav2_tb3`.
+
+Launch simulation and set up the initial position of the robot (see gif),
 
 ```bash
-cd ~/ff_ros2_ws
-rosdep install --from-paths src --ignore-src --rosdistro galactic -yr
+source /opt/ros/jazzy/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_simulations/turtlebot3_gazebo/models
+
+# Launch the simulation
+ros2 launch nav2_bringup tb3_simulation_launch.py headless:=0
+
+# Or launch headless
+# ros2 launch nav2_bringup tb3_simulation_launch.py
 ```
 
-Source ROS 2 and build,
+Start `zenoh` router,
 
 ```bash
-cd ~/ff_ros2_ws
-source /opt/ros/galactic/setup.bash
-colcon build
+zenohd
 
-# Optionally use the command below to only build the relevant packages,
-# colcon build --packages-up-to \
-#     free_fleet ff_examples_ros2 free_fleet_server_ros2 free_fleet_client_ros2
+# If using released standalaone binaries
+# cd PATH_TO_EXTRACTED_ZENOH_ROUTER
+# ./zenohd
 ```
 
-</br>
-</br>
+Start `zenoh-bridge-ros2dds` with the appropriate zenoh client configuration,
 
-## Examples
+```bash
+source /opt/ros/jazzy/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-### Barebones Example
+cd PATH_TO_EXTRACTED_ZENOH_BRIDGE
+./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/config/zenoh/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5
+```
 
-This example emulates a running ROS 1 robot,
+Listen to transforms over `zenoh`,
 
 ```bash
-source ~/ff_ros1_ws/install/setup.bash
-roslaunch ff_examples_ros1 fake_client.launch
+source ~/ff_ws/install/setup.bash
+ros2 run free_fleet_examples nav2_get_tf.py \
+    --namespace nav2_tb3
 ```
 
-This example emulates a running ROS 2 robot,
+Start a `navigate_to_pose` action over `zenoh`, using example values,
 
 ```bash
-source ~/ff_ros2_ws/install/setup.bash
-ros2 launch ff_examples_ros2 fake_client.launch.xml
+source ~/ff_ws/install/setup.bash
+ros2 run free_fleet_examples nav2_send_navigate_to_pose.py \
+    --frame-id map \
+    --namespace nav2_tb3 \
+    -x 1.808 \
+    -y 0.503
 ```
 
-The clients will then start subscribing to all the necessary topics, and start publishing robot states over DDS to the server. Start the server using
+Start the RMF core packages on a different `ROS_DOMAIN_ID` to simulate running on a different machine,
 
 ```bash
-source ~/ff_ros2_ws/install/setup.bash
-ros2 launch ff_examples_ros2 fake_server.launch.xml
+source ~/ff_ws/install/setup.bash
+export ROS_DOMAIN_ID=55
 
-# Verify that the server registers the fake clients
-# [INFO] [1636706176.184055177] [fake_server_node]: registered a new robot: [fake_ros1_robot]
-# [INFO] [1636706176.184055177] [fake_server_node]: registered a new robot: [fake_ros2_robot]
+ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml
 ```
 
-ROS 2 messages over the `/fleet_states` topic can also be used to verify that the clients are registered,
+Launch the `free_fleet_adapter` with the current example's configurations, verify that `nav2_tb3` has been added to fleet `turtletbot3`.
 
 ```bash
-source ~/ff_ros2_ws/install/setup.bash
-ros2 topic echo /fleet_states
-```
+source ~/ff_ws/install/setup.bash
+export ROS_DOMAIN_ID=55
 
-Next, to send requests and commands, check out the example scripts and their uses [here](#commands-and-requests).
+ros2 launch free_fleet_examples nav2_tb3_simulation_fleet_adapter.launch.xml
 
-</br>
-
-### Turtlebot3 Fleet Server
+# Or launch with the rmf-web API server address
+# ros2 launch free_fleet_examples nav2_tb3_simulation_fleet_adapter.launch.xml  server_uri:="ws://localhost:8000/_internal"
+```
 
-This launches a server for a fleet of simulated turtlebot3 robots.
+Dispatch an example RMF patrol tasks using [`rmf-web`](https://github.com/open-rmf/rmf-web) on the same `ROS_DOMAIN_ID` as the RMF core packages, or use the `dispatch_patrol` script,
 
 ```bash
-source ~/ff_ros2_ws/install/setup.bash
-ros2 launch ff_examples_ros2 turtlebot3_world_ff_server.launch.xml
+source ~/ff_ws/install/setup.bash
+export ROS_DOMAIN_ID=55
+
+ros2 run rmf_demos_tasks dispatch_patrol \
+  -p north_west north_east south_east south_west \
+  -n 2 \
+  -st 0
 ```
 
-At this point, the server should register any clients running, if any of the simulations below are running.
+### Nav2 Multiple turtlebot3 world
 
-Users can issue requests and commands through the server to the clients. Check out the example scripts and their uses [here](#commands-and-requests).
+> [!NOTE]
+> This multi-robot simulation example is only for testing purposes, as it is a different setup than `free_fleet` is intended to be used. The simulation spawns 2 already namespaced robots, while the `free_fleet` architecture expects individual non-namespaced robots to be partnered with a namespaced `zenoh-bridge-ros2dds`.
 
-### ROS 1 Turtlebot3 Simulation
+![](../media/multirobot_sim_architecture.jpg)
 
-Before starting these examples, remember to install all the prerequisites according to the [official tutorials](https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup) of using `Turtlebot3`, under `noetic`.
+In this example, there will only be one non-namespaced zenoh bridge for both robots, which will produce the same zenoh message outputs as 2 individual namespaced zenoh bridge with non-namespaced robots. This allows the `free_fleet_adapter` to work with both robots on the same simulation.
 
-```bash
-sudo apt install ros-noetic-dwa-local-planner
-```
+![](../media/ff_unique_faster_smaller.gif)
 
-Launch the basic simulation of a single Turtlebot3, with a free fleet client attached to it, by sourcing the ROS 1 workspace and launching the provided example launch file,
+Launch simulation, start the robots, and set up the initial positions (see gif),
 
 ```bash
-source ~/ff_ros1_ws/install/setup.bash
-export TURTLEBOT3_MODEL=burger; roslaunch ff_examples_ros1 turtlebot3_world_ff.launch
-```
+source /opt/ros/jazzy/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_simulations/turtlebot3_gazebo/models
 
-This launch file starts the simulation in `gazebo`, visualization in `rviz`, as well as the simulated navigation stack of the single turtlebot3. Once the simulation and visualization show up, the robot can be commanded as per normal through `rviz` with `2D Nav Goal`.
+ros2 launch nav2_bringup unique_multi_tb3_simulation_launch.py
+```
 
-If the server is already running, it should display that a new robot has been registered.
+Start `zenoh` router,
 
 ```bash
-[INFO] [1636706001.275082185] [turtlebot3_fleet_server_node]: registered a new robot: [ros1_tb3_0]
+zenohd
+
+# If using released standalaone binaries
+# cd PATH_TO_EXTRACTED_ZENOH_ROUTER
+# ./zenohd
 ```
 
-Another way to check, is to listen in on the `/fleet_states` topic, using `ros2 topic echo /fleet_states`.
+Start `zenoh-bridge-ros2dds` with the appropriate zenoh client configuration,
 
-Next, to send requests and commands, check out the example scripts and their uses [here](#commands-and-requests).
+```bash
+source /opt/ros/jazzy/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-### ROS 2 Turtlebot3 Simulation
+cd PATH_TO_EXTRACTED_ZENOH_BRIDGE
+./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/config/zenoh/nav2_unique_multi_tb3_zenoh_bridge_ros2dds_client_config.json5
+```
 
-Before starting these examples, remember to install and build all the prerequisites,
+Start the RMF core packages on a different `ROS_DOMAIN_ID` to simulate running on a different machine,
 
 ```bash
-sudo apt install ros-galactic-nav2-util ros-galactic-nav2-bringup ros-galactic-rviz2
-
-cd ~/ff_ros2_ws/src
-git clone https://github.com/ROBOTIS-GIT/turtlebot3 -b galactic-devel
+source ~/ff_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export ROS_DOMAIN_ID=55
 
-cd ~/ff_ros2_ws
-rosdep install --from-paths src --ignore-src --rosdistro galactic -yr
-
-source /opt/ros/galactic/setup.bash
-colcon build
+ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml
 ```
 
-Launch the basic simulation of a single Turtlebot3, with a free fleet client attached to it, by sourcing the ROS 1 workspace and launching the provided example launch file,
+Launch the `free_fleet_adapter` with the current example's configurations, verify that `nav2_tb3` has been added to fleet `turtlebot3`.
 
 ```bash
-source ~/ff_ros2_ws/install/setup.bash
-export TURTLEBOT3_MODEL=burger; ros2 launch ff_examples_ros2 turtlebot3_world_ff.launch.xml
-```
+source ~/ff_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export ROS_DOMAIN_ID=55
 
-This launch file starts the simulation in `gazebo`, visualization in `rviz2`, as well as the simulated navigation stack of the single turtlebot3. Once the simulation and visualization show up, the robot can be commanded as per normal through `rviz2` with `2D Nav Goal`.
+ros2 launch free_fleet_examples nav2_unique_multi_tb3_simulation_fleet_adapter.launch.xml
+
+# Or launch with the rmf-web API server address
+# ros2 launch free_fleet_examples nav2_unique_multi_tb3_simulation_fleet_adapter.launch.xml  server_uri:="ws://localhost:8000/_internal"
+```
 
-If the server is already running, it should display that a new robot has been registered.
+Dispatch example RMF patrol tasks using [`rmf-web`](https://github.com/open-rmf/rmf-web) on the same `ROS_DOMAIN_ID` as the RMF core packages, or use the `dispatch_patrol` scripts, which will cause the robot to negotiate as they perform their tasks.
 
 ```bash
-[INFO] [1636706001.275082185] [turtlebot3_fleet_server_node]: registered a new robot: [ros2_tb3_0]
+source ~/ff_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export ROS_DOMAIN_ID=55
+
+# robot1 to run clockwise around the map
+ros2 run rmf_demos_tasks dispatch_patrol \
+  -p north_west north_east south_east south_west \
+  -n 3 \
+  -st 0 \
+  -F turtlebot3 \
+  -R robot1
+
+# robot2 to run anti-clockwise around the map
+ros2 run rmf_demos_tasks dispatch_patrol \
+  -p south_west south_east north_east north_west \
+  -n 3 \
+  -st 0 \
+  -F turtlebot3 \
+  -R robot2
 ```
 
-Another way to check, is to listen in on the `/fleet_states` topic, using `ros2 topic echo /fleet_states`.
+### Nav1 Single turtlebot3 world
 
-Next, to send requests and commands, check out the example scripts and their uses [here](#commands-and-requests).
+![](../media/nav1_sim_architecture.jpg)
 
-</br>
+> [!WARNING]
+> The Nav1 integration has only been tested in simulation and in ROS 1 Noetic, and is currently still using a fork of [zenoh-plugin-ros1](https://github.com/aaronchongth/zenoh-plugin-ros1), to support bridge namespacing. This will be updated after contributions to upstream has been made.
 
-### ROS 1 Multi Turtlebot3 Simulation
+Check out the [docker compose integration tests](.github/docker/integration-tests/nav1-docker-compose.yaml) for an overview of how the integration can be set up.
 
-This example launches three Turtlebot3s in simulation, and registers each robot as a client within a fleet controlled by `free_fleet`. The setup of this simulation is the same as the [ROS 1 Turtlebot3 Simulation](#ros-1-turtlebot3-simulation).
-
-Similarly to the example, launch the provided launch file, which will start the simulation, visualization, navigation stacks of 3 turtlebot3s, and free fleet clients for each of the robots,
+On the machine where the free fleet adapter will run, start a `zenoh` router,
 
 ```bash
-source ~/ff_ros1_ws/devel/setup.bash
-export TURTLEBOT3_MODEL=burger; roslaunch ff_examples_ros1 multi_turtlebot3_ff.launch
+zenohd
+
+# If using released standalaone binaries
+# cd PATH_TO_EXTRACTED_ZENOH_ROUTER
+# ./zenohd
 ```
 
-Once the simulation and visualization show up, the robots can then be commanded to navigate to different parts of the map by using the tool and panels in the visualization. Fill in the fleet name and robot name, select the navigation goal using `2D Nav Goal`, which will be reflected on the panel, and select `Send Nav Goal`.
+In the ROS 1 Noetic environment, set up all the prerequisites as mentioned in the [official guide](https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation), and start the turtlebot3 simulation. See the [relevant docker file](.github/docker/minimal-ros1-sim/Dockerfile) for reference.
 
-![](media/multi_tb3.gif)
+```bash
+source /opt/ros/noetic/setup.bash
+export TURTLEBOT3_MODEL=burger
+roslaunch turtlebot3_gazebo turtlebot3_world.launch
+```
 
-If the server is already running, it should display that a new robot has been registered.
+In the ROS 1 Noetic environment, bringup the Nav1 stack with the prepared map in [navigation2](https://github.com/ros-navigation/navigation2/tree/main/nav2_bringup/maps). See the [relevant docker file](.github/docker/minimal-nav1-bringup/Dockerfile) for reference.
 
 ```bash
-[INFO] [1636706001.275082185] [turtlebot3_fleet_server_node]: registered a new robot: [tb3_0]
-[INFO] [1636706001.275082185] [turtlebot3_fleet_server_node]: registered a new robot: [tb3_1]
-[INFO] [1636706001.275082185] [turtlebot3_fleet_server_node]: registered a new robot: [tb3_2]
-```
+# prepare the map
+git clone https://github.com/ros-navigation/navigation2
 
-Another way to check, is to listen in on the `/fleet_states` topic, using `ros2 topic echo /fleet_states`.
+source /opt/ros/noetic/setup.bash
+export TURTLEBOT3_MODEL=burger
+roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/PATH_TO_navigation2/nav2_bringup/maps/tb3_sandbox.yaml
+```
 
-Next, to send more specific requests and commands, check out the example scripts and their uses [here](#commands-and-requests).
+In the ROS 1 Noetic environment, set up prerequisites of [zenoh-plugin-ros1](https://github.com/aaronchongth/zenoh-plugin-ros1), build `zenoh-bridge-ros1` in release, and start it with the [provided config in examples](free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5). See the [relevant docker file](.github/docker/minimal-zenoh-bridge-ros1/Dockerfile) for reference.
 
-</br>
+```bash
+# Get the config file
+git clone https://github.com/open-rmf/free_fleet -b easy-full-control
 
-### Commands and Requests
+# Build the bridge
+git clone --recursive https://github.com/aaronchongth/zenoh-plugin-ros1
+cd zenoh-plugin-ros1
+cargo build --package zenoh-bridge-ros1 --bin zenoh-bridge-ros1 --release
 
-Now the fun begins! There are 3 types of commands/requests that can be sent to the simulated robots through `free_fleet`,
+# Use cargo run, or just run the executable directly
+source /opt/ros/noetic/setup.bash
+./target/release/zenoh-bridge-ros1 -c PATH_TO_free_fleet/free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5
+```
 
-Destination requests, which allows single destination commands for the robots,
+On the machine where the free fleet adapter will run, start the common launch files and the free fleet adapter,
 
 ```bash
-ros2 run ff_examples_ros2 send_destination_request.py -f FLEET_NAME -r ROBOT_NAME -x 1.725 -y -0.39 --yaw 0.0 -i UNIQUE_TASK_ID
+source ~/ff_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ros2 launch free_fleet_examples turtlebot3_world_rmf_common.launch.xml
 ```
 
-Path requests, which requests that the robot perform a string of destination commands,
+Launch the `free_fleet_adapter` with the current example's configurations, verify that `nav1_tb3` has been added to fleet `turtlebot3`.
 
 ```bash
-ros2 run ff_examples_ros2 send_path_request.py -f FLEET_NAME -r ROBOT_NAME -i UNIQUE_TASK_ID -p '[{"x": 1.725, "y": -0.39, "yaw": 0.0, "level_name": "B1"}, {"x": 1.737, "y": 0.951, "yaw": 1.57, "level_name": "B1"}, {"x": -0.616, "y": 1.852, "yaw": 3.14, "level_name": "B1"}, {"x": -0.626, "y": -1.972, "yaw": 4.71, "level_name": "B1"}]'
+source ~/ff_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ros2 launch free_fleet_examples nav1_tb3_simulation_fleet_adapter.launch.xml
+
+# Or launch with the rmf-web API server address
+# ros2 launch free_fleet_examples nav1_tb3_simulation_fleet_adapter.launch.xml  server_uri:="ws://localhost:8000/_internal"
 ```
 
-Mode requests which only supports `pause` and `resume` at the moment,
+Dispatch example RMF patrol tasks using [`rmf-web`](https://github.com/open-rmf/rmf-web) on the same `ROS_DOMAIN_ID` as the RMF core packages, or use the `dispatch_patrol` scripts, which will cause the robot to negotiate as they perform their tasks.
 
 ```bash
-ros2 run ff_examples_ros2 send_mode_request.py -f FLEET_NAME -r ROBOT_NAME -m pause -i UNIQUE_TASK_ID
-ros2 run ff_examples_ros2 send_mode_request.py -f FLEET_NAME -r ROBOT_NAME -m resume -i UNIQUE_TASK_ID
+source ~/ff_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export ROS_DOMAIN_ID=55
+
+# nav1_tb3 to run clockwise around the map
+ros2 run rmf_demos_tasks dispatch_patrol \
+  -p north_west north_east south_east south_west \
+  -n 3 \
+  -st 0 \
+  -F turtlebot3 \
+  -R nav1_tb3
 ```
 
-**Note** that the task IDs need to be unique, if a request is sent using a previously used task ID, the request will be ignored by the free fleet clients.
+## Troubleshooting
+
+* Looking for the legacy implementation of `free_fleet`? Check out the [`legacy`](https://github.com/open-rmf/free_fleet/tree/legacy) branch.
+
+* `free_fleet_adapter` can't seem to control the robots? Check if the zenoh messages are going through using the testing scripts in `free_fleet_examples`. For ROS 2 navigation stacks, make sure that the `zenoh-bridge-ros2dds` is launched with the same `RMW_IMPLEMENTATION` and `ROS_DOMAIN_ID` as the robot's navigation stack, otherwise no messages will be passed through the bridge.
+
+* Failing to start `free_fleet_adapter` due to missing API in `rmf_fleet_adapter_python`? This may be due to using outdated `rmf_fleet_adapter_python` released binaries, either perform a `sudo apt update && sudo apt upgrade`, or build RMF from source following the [official guide](https://github.com/open-rmf/rmf).
+
+* Simulations don't seem to work properly anymore? Try `ros2 deamon stop`, `ros2 daemon start`, or explicitly kill the `ros` and `gazebo` processes, or restart your machine. It's been noticed that if the ROS 2 or gazebo process are not terminated properly (happens rarely), the network traffic between the simulation robots and the fleet adapter get affected.
+
+* ROS 1 Navigation stack simulation does not seem to work as expected? Check out the [integration tests docker compose](.github/docker/integration-tests/nav1-docker-compose.yaml), as well as the [simulation](.github/docker/minimal-ros1-sim/Dockerfile) and [bringup](.github/docker/minimal-nav1-bringup/Dockerfile) docker files, for any missing dependencies.
+
+* Why does RMF not run with `use_sim_time:=true` in the examples? This is because it is on a different `ROS_DOMAIN_ID` than the simulation, therefore it will not have access to the simulation `clock` topic, the examples running RMF, `free_fleet_adapter` and the tasks will not be using sim time.
+
+* For potential bandwidth issues, especially during multirobot sim example, spinning up a dedicated zenoh router and routing the `zenoh-bridge-ros2dds` manually to it, could help alleviate such issues.
+
+* If `zenoh` messages are not received, make sure the versions between the `eclipse-zenoh` in `pip`, `zenoh-bridge-ros2dds` and `zenohd` are all the same. If the debian binary releases of `zenohd` have breaking changes, and the repo has not yet migrate to the newer version, please open an issue ticket and we will look into migrating as soon as possible. In the meantime, using an older standalone release of `zenohd` would be a temporary workaround. Our integration tests will attempt to catch these breaking changes too.
 
-</br>
-</br>
+* `zenohd` address already in use. This is most likely due to the `rest-http-port` which uses port 8000 by default, and might cause a conflict with other systems, for example `rmf-web`'s API server. Run `zenohd --rest-http-port 8001` to change it to 8001 or anything else.
 
-## Plans
+## TODOs
 
-* Significant changes incoming from the `develop` branch, however it is still a work in progress.
+* attempt to optimize tf messages (not all are needed)
+* custom actions to be abstracted
+* map switching support
+* end-to-end testing with Open-RMF
+* test replanning behavior
+* support for Rolling
+* docker images
+* releases
+* testing and support for other RMW implementations
diff --git a/codecov.yaml b/codecov.yaml
new file mode 100644
index 00000000..4be20c0c
--- /dev/null
+++ b/codecov.yaml
@@ -0,0 +1,16 @@
+coverage:
+  precision: 2
+  round: down
+  range: "35...100"
+  status:
+    project:
+      default:
+        informational: true
+    patch: off
+fixes:
+  - "ros_ws/src/*/free_fleet/free_fleet/::"
+  - "ros_ws/src/*/free_fleet/free_fleet_adapter/::"
+ignore:
+  - "free_fleet_examples"
+  - "**/test_*.py"
+  - "**/setup.py"
diff --git a/ff.repos b/ff.repos
deleted file mode 100644
index cd7046b9..00000000
--- a/ff.repos
+++ /dev/null
@@ -1,17 +0,0 @@
-repositories:
-  free_fleet:
-    type: git
-    url: https://github.com/open-rmf/free_fleet.git
-    version: main
-  rmf_traffic:
-    type: git
-    url: https://github.com/open-rmf/rmf_traffic.git
-    version: main
-  rmf_utils:
-    type: git
-    url: https://github.com/open-rmf/rmf_utils.git
-    version: main
-  cyclonedds:
-    type: git
-    url: https://github.com/eclipse-cyclonedds/cyclonedds.git
-    version: 0.8.0beta5
diff --git a/ff_examples_ros1/CHANGELOG.rst b/ff_examples_ros1/CHANGELOG.rst
deleted file mode 100644
index 23ce9d34..00000000
--- a/ff_examples_ros1/CHANGELOG.rst
+++ /dev/null
@@ -1,11 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package ff_examples_ros1
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Forthcoming
------------
-
-1.0.0 (2020-06-11)
-------------------
-* Provides a single Turtlebot3 simulation example and a multiple Turtlebot3 simulation example that have free fleet clients running on them.
-* Contributors: Aaron Chong
diff --git a/ff_examples_ros1/CMakeLists.txt b/ff_examples_ros1/CMakeLists.txt
deleted file mode 100644
index bdacd115..00000000
--- a/ff_examples_ros1/CMakeLists.txt
+++ /dev/null
@@ -1,30 +0,0 @@
-cmake_minimum_required(VERSION 3.5.0)
-
-project(ff_examples_ros1)
-
-#===============================================================================
-
-find_package(catkin QUIET)
-
-if (catkin_FOUND)
-
-  catkin_package()
-
-  install(
-    DIRECTORY rviz
-    DESTINATION share/${PROJECT_NAME}
-  )
-
-  install(
-    DIRECTORY launch
-    DESTINATION share/${PROJECT_NAME}
-  )
-
-  install(
-    DIRECTORY maps
-    DESTINATION share/${PROJECT_NAME}
-  )
-
-else()
-  message("catkin not found so skipping this ROS1 package")
-endif()
diff --git a/ff_examples_ros1/launch/fake_client.launch b/ff_examples_ros1/launch/fake_client.launch
deleted file mode 100644
index 6143d64b..00000000
--- a/ff_examples_ros1/launch/fake_client.launch
+++ /dev/null
@@ -1,22 +0,0 @@
-<launch>
-
-  <node name="fake_action_server" pkg="free_fleet_client_ros1" 
-      type="fake_action_server"/>
-
-  <node name="fake_docking_server" pkg="free_fleet_client_ros1" 
-      type="fake_docking_server"/>
-  
-  <node pkg="tf" type="static_transform_publisher" 
-      name="fake_robot_transform" 
-      args="0.0 0.0 0.0 0.0 0.0 0.0 1.0 base_footprint map 200"/>
-
-  <node name="fake_client_node" pkg="free_fleet_client_ros1"
-      type="free_fleet_client_ros1" output="screen">
-    <param name="fleet_name" type="string" value="fake_fleet"/>
-    <param name="robot_name" type="string" value="fake_ros1_robot"/>
-    <param name="dds_domain" type="int" value="42"/>
-    <param name="max_dist_to_first_waypoint" type="double" value="10.0"/>
-    <param name="docking_trigger_server_name" type="string" value="/fake_docking_server"/>
-  </node>
-  
-</launch>
diff --git a/ff_examples_ros1/launch/include/multi_turtlebot3.launch b/ff_examples_ros1/launch/include/multi_turtlebot3.launch
deleted file mode 100644
index bece80b7..00000000
--- a/ff_examples_ros1/launch/include/multi_turtlebot3.launch
+++ /dev/null
@@ -1,64 +0,0 @@
-<launch>
-  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
-  <arg name="first_tb3"  default="tb3_0"/>
-  <arg name="second_tb3" default="tb3_1"/>
-  <arg name="third_tb3"  default="tb3_2"/>
-
-  <arg name="first_tb3_x_pos" default="-7.0"/>
-  <arg name="first_tb3_y_pos" default="-1.0"/>
-  <arg name="first_tb3_z_pos" default=" 0.0"/>
-  <arg name="first_tb3_yaw"   default=" 1.57"/>
-
-  <arg name="second_tb3_x_pos" default=" 7.0"/>
-  <arg name="second_tb3_y_pos" default="-1.0"/>
-  <arg name="second_tb3_z_pos" default=" 0.0"/>
-  <arg name="second_tb3_yaw"   default=" 1.57"/>
-
-  <arg name="third_tb3_x_pos" default=" 0.5"/>
-  <arg name="third_tb3_y_pos" default=" 3.0"/>
-  <arg name="third_tb3_z_pos" default=" 0.0"/>
-  <arg name="third_tb3_yaw"   default=" 0.0"/>
-
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="gui" value="true"/>
-    <arg name="headless" value="false"/>
-    <arg name="debug" value="false"/>
-  </include>  
-
-  <group ns = "$(arg first_tb3)">
-    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
-
-    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
-      <param name="publish_frequency" type="double" value="50.0" />
-      <param name="tf_prefix" value="$(arg first_tb3)" />
-    </node>
-    <param name="tf_prefix" value="$(arg first_tb3)" />
-    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
-  </group>
-
-  <group ns = "$(arg second_tb3)">
-    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
-
-    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
-      <param name="publish_frequency" type="double" value="50.0" />
-      <param name="tf_prefix" value="$(arg second_tb3)" />
-    </node>
-    <param name="tf_prefix" value="$(arg second_tb3)" />
-    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg second_tb3) -x $(arg second_tb3_x_pos) -y $(arg second_tb3_y_pos) -z $(arg second_tb3_z_pos) -Y $(arg second_tb3_yaw) -param robot_description" />
-  </group>
-
-  <group ns = "$(arg third_tb3)">
-    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
-
-    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
-      <param name="publish_frequency" type="double" value="50.0" />
-      <param name="tf_prefix" value="$(arg third_tb3)" />
-    </node>
-    <param name="tf_prefix" value="$(arg third_tb3)" />
-    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg third_tb3) -x $(arg third_tb3_x_pos) -y $(arg third_tb3_y_pos) -z $(arg third_tb3_z_pos) -Y $(arg third_tb3_yaw) -param robot_description" />
-  </group>
-
-</launch>
diff --git a/ff_examples_ros1/launch/include/single_turtlebot3_ff.launch b/ff_examples_ros1/launch/include/single_turtlebot3_ff.launch
deleted file mode 100644
index a39014d0..00000000
--- a/ff_examples_ros1/launch/include/single_turtlebot3_ff.launch
+++ /dev/null
@@ -1,90 +0,0 @@
-<launch>
-
-  <arg name="model" default="waffle"/>
-  <arg name="open_rviz" default="false"/>
-
-  <!-- amcl Arguments -->
-  <arg name="scan_topic"     default="scan"/>
-  <arg name="initial_pose_x" default="0.0"/>
-  <arg name="initial_pose_y" default="0.0"/>
-  <arg name="initial_pose_a" default="0.0"/>
-  <arg name="set_base_frame" default="base_footprint"/>
-  <arg name="set_odom_frame" default="odom"/>
-  <arg name="set_scan_frame" default="base_scan"/>
-  <arg name="set_map_frame"  default="map"/>
-
-  <!-- move_base Arguments -->
-  <arg name="cmd_vel_topic" default="cmd_vel" />
-  <arg name="odom_topic" default="odom" />
-  <arg name="move_forward_only" default="false"/>
-
-  <!-- AMCL -->
-  <node pkg="amcl" type="amcl" name="amcl">
-    <param name="min_particles"             value="500"/>
-    <param name="max_particles"             value="3000"/>
-    <param name="kld_err"                   value="0.02"/>
-    <param name="update_min_d"              value="0.20"/>
-    <param name="update_min_a"              value="0.20"/>
-    <param name="resample_interval"         value="1"/>
-    <param name="transform_tolerance"       value="0.5"/>
-    <param name="recovery_alpha_slow"       value="0.00"/>
-    <param name="recovery_alpha_fast"       value="0.00"/>
-    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
-    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
-    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
-    <param name="gui_publish_rate"          value="50.0"/>
-
-    <remap from="scan"                      to="$(arg scan_topic)"/>
-    <param name="laser_max_range"           value="3.5"/>
-    <param name="laser_max_beams"           value="180"/>
-    <param name="laser_z_hit"               value="0.5"/>
-    <param name="laser_z_short"             value="0.05"/>
-    <param name="laser_z_max"               value="0.05"/>
-    <param name="laser_z_rand"              value="0.5"/>
-    <param name="laser_sigma_hit"           value="0.2"/>
-    <param name="laser_lambda_short"        value="0.1"/>
-    <param name="laser_likelihood_max_dist" value="2.0"/>
-    <param name="laser_model_type"          value="likelihood_field"/>
-
-    <param name="odom_model_type"           value="diff"/>
-    <param name="odom_alpha1"               value="0.1"/>
-    <param name="odom_alpha2"               value="0.1"/>
-    <param name="odom_alpha3"               value="0.1"/>
-    <param name="odom_alpha4"               value="0.1"/>
-    <param name="odom_frame_id"             value="$(arg set_odom_frame)"/>
-    <param name="base_frame_id"             value="$(arg set_base_frame)"/>
-    <param name="global_frame_id"           value="$(arg set_map_frame)"/>
-
-    <remap from="map" to="/map"/>
-    <remap from="static_map" to="/static_map"/>
-  </node>
-
-  <!-- move_base -->
-  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
-    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
-    <rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
-    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
-    <remap from="odom" to="$(arg odom_topic)"/>
-    <param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
-    
-    <param name="local_costmap/scan/sensor_frame"   value="$(arg set_scan_frame)"/>
-    <param name="local_costmap/global_frame"        value="$(arg set_odom_frame)"/>
-    <param name="local_costmap/robot_base_frame"    value="$(arg set_base_frame)"/>
-    <param name="global_costmap/scan/sensor_frame"  value="$(arg set_scan_frame)"/>
-    <param name="global_costmap/global_frame"       value="$(arg set_map_frame)"/>
-    <param name="global_costmap/robot_base_frame"   value="$(arg set_base_frame)"/>
-    <remap from="map" to="/map"/>
-  </node>
-
-  <!-- rviz -->
-  <group if="$(arg open_rviz)"> 
-    <node pkg="rviz" type="rviz" name="rviz" required="true"
-          args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
-  </group>
-
-</launch>
diff --git a/ff_examples_ros1/launch/multi_turtlebot3_ff.launch b/ff_examples_ros1/launch/multi_turtlebot3_ff.launch
deleted file mode 100644
index eff5e0bc..00000000
--- a/ff_examples_ros1/launch/multi_turtlebot3_ff.launch
+++ /dev/null
@@ -1,106 +0,0 @@
-<launch>
-  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
-  <arg name="set_map_frame"  default="map"/>
-
-  <!-- launches the basic multi turtlebot3 world -->
-  <include file="$(find ff_examples_ros1)/launch/include/multi_turtlebot3.launch">
-    <arg name="model" value="$(arg model)"/>
-  </include>
-
-  <!-- Map server -->
-  <node pkg="map_server" name="map_server" type="map_server" 
-      args="$(find ff_examples_ros1)/maps/house.yaml">
-    <param name="frame_id" value="$(arg set_map_frame)"/>
-  </node>
-
-  <!-- launch the navigation stacks of 3 turtlebot3s-->
-  <arg name="tb3_0_prefix" value="tb3_0"/>
-  <group ns="$(arg tb3_0_prefix)">
-    <include file="$(find ff_examples_ros1)/launch/include/single_turtlebot3_ff.launch">
-      <arg name="model" value="$(arg model)"/>
-      <arg name="set_base_frame" value="$(arg tb3_0_prefix)/base_footprint"/>
-      <arg name="set_odom_frame" value="$(arg tb3_0_prefix)/odom"/>
-      <arg name="set_scan_frame" value="$(arg tb3_0_prefix)/base_scan"/>
-      <arg name="set_map_frame" value="$(arg set_map_frame)"/>
-      <arg name="open_rviz" value="false"/>
-      <arg name="initial_pose_x" default="-6.58309602737"/>
-      <arg name="initial_pose_y" default="-0.598859667778"/>
-      <arg name="initial_pose_a" default="1.57"/>
-    </include>
-  </group>
-
-  <arg name="tb3_1_prefix" value="tb3_1"/>
-  <group ns="$(arg tb3_1_prefix)">
-    <include file="$(find ff_examples_ros1)/launch/include/single_turtlebot3_ff.launch">
-      <arg name="model" value="$(arg model)"/>
-      <arg name="set_base_frame" value="$(arg tb3_1_prefix)/base_footprint"/>
-      <arg name="set_odom_frame" value="$(arg tb3_1_prefix)/odom"/>
-      <arg name="set_scan_frame" value="$(arg tb3_1_prefix)/base_scan"/>
-      <arg name="set_map_frame" value="$(arg set_map_frame)"/>
-      <arg name="open_rviz" value="false"/>
-      <arg name="initial_pose_x" default="6.72441768646"/>
-      <arg name="initial_pose_y" default="-1.08069348335"/>
-      <arg name="initial_pose_a" default="1.57"/>
-    </include>
-  </group>
-
-  <arg name="tb3_2_prefix" value="tb3_2"/>
-  <group ns="$(arg tb3_2_prefix)">
-    <include file="$(find ff_examples_ros1)/launch/include/single_turtlebot3_ff.launch">
-      <arg name="model" value="$(arg model)"/>
-      <arg name="set_base_frame" value="$(arg tb3_2_prefix)/base_footprint"/>
-      <arg name="set_odom_frame" value="$(arg tb3_2_prefix)/odom"/>
-      <arg name="set_scan_frame" value="$(arg tb3_2_prefix)/base_scan"/>
-      <arg name="set_map_frame" value="$(arg set_map_frame)"/>
-      <arg name="open_rviz" value="false"/>
-      <arg name="initial_pose_x" default="0.30019775033"/>
-      <arg name="initial_pose_y" default="2.9819111824"/>
-      <arg name="initial_pose_a" default="0.0"/>
-    </include>
-  </group>
-
-  <!-- launch the free fleet clients of 3 turtlebot3s-->
-  <node name="$(arg tb3_0_prefix)_free_fleet_client_node" 
-      pkg="free_fleet_client_ros1"
-      type="free_fleet_client_ros1" output="screen">
-    <param name="fleet_name" type="string" value="turtlebot3"/>
-    <param name="robot_name" type="string" value="$(arg tb3_0_prefix)"/>
-    <param name="level_name" type="string" value="house"/>
-    <param name="dds_domain" type="int" value="42"/>
-    <param name="max_dist_to_first_waypoint" type="double" value="10.0"/>
-    <param name="battery_state_topic" value="$(arg tb3_0_prefix)/battery_state"/>
-    <param name="robot_frame" value="$(arg tb3_0_prefix)/base_footprint"/>
-    <param name="move_base_server_name" value="$(arg tb3_0_prefix)/move_base"/>
-  </node>
-
-  <node name="$(arg tb3_1_prefix)_free_fleet_client_node" 
-      pkg="free_fleet_client_ros1"
-      type="free_fleet_client_ros1" output="screen">
-    <param name="fleet_name" type="string" value="turtlebot3"/>
-    <param name="robot_name" type="string" value="$(arg tb3_1_prefix)"/>
-    <param name="level_name" type="string" value="house"/>
-    <param name="dds_domain" type="int" value="42"/>
-    <param name="max_dist_to_first_waypoint" type="double" value="10.0"/>
-    <param name="battery_state_topic" value="$(arg tb3_1_prefix)/battery_state"/>
-    <param name="robot_frame" value="$(arg tb3_1_prefix)/base_footprint"/>
-    <param name="move_base_server_name" value="$(arg tb3_1_prefix)/move_base"/>
-  </node>
-
-  <node name="$(arg tb3_2_prefix)_free_fleet_client_node" 
-      pkg="free_fleet_client_ros1"
-      type="free_fleet_client_ros1" output="screen">
-    <param name="fleet_name" type="string" value="turtlebot3"/>
-    <param name="robot_name" type="string" value="$(arg tb3_2_prefix)"/>
-    <param name="level_name" type="string" value="house"/>
-    <param name="dds_domain" type="int" value="42"/>
-    <param name="max_dist_to_first_waypoint" type="double" value="10.0"/>
-    <param name="battery_state_topic" value="$(arg tb3_2_prefix)/battery_state"/>
-    <param name="robot_frame" value="$(arg tb3_2_prefix)/base_footprint"/>
-    <param name="move_base_server_name" value="$(arg tb3_2_prefix)/move_base"/>
-  </node>
-
-  <!-- launch the overall visualization on rviz -->
-  <node pkg="rviz" type="rviz" name="rviz" required="true"
-        args="-d $(find ff_examples_ros1)/rviz/multi_turtlebot3_ff.rviz"/>
-  
-</launch>
diff --git a/ff_examples_ros1/launch/turtlebot3_world_ff.launch b/ff_examples_ros1/launch/turtlebot3_world_ff.launch
deleted file mode 100644
index 744052ed..00000000
--- a/ff_examples_ros1/launch/turtlebot3_world_ff.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<launch>
-  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
-  <arg name="map_file" default="$(find ff_examples_ros1)/maps/world.yaml"/>
-  <arg name="open_rviz" default="true"/>
-  <arg name="move_forward_only" default="false"/>
-  <arg name="initial_pose_x" default="-1.8949996233"/>
-  <arg name="initial_pose_y" default="-0.419999837875"/>
-  <arg name="initial_pose_a" default="-0.0208304"/>
-
-  <!-- launches the basic turtlebot3 world with one basic turtlebot -->
-  <include file="$(find turtlebot3_gazebo)/launch/turtlebot3_world.launch">
-    <arg name="model" value="$(arg model)"/>
-  </include>
-
-  <!-- launch the navigation stack with test maps -->
-  <group>
-    <!-- Turtlebot3 -->
-    <include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch">
-      <arg name="model" value="$(arg model)" />
-    </include>
-
-    <!-- Map server -->
-    <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
-
-    <!-- AMCL -->
-    <include file="$(find turtlebot3_navigation)/launch/amcl.launch">
-      <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
-      <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
-      <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
-    </include>
-
-    <!-- move_base -->
-    <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
-      <arg name="model" value="$(arg model)" />
-      <arg name="move_forward_only" value="$(arg move_forward_only)"/>
-    </include>
-
-    <!-- rviz -->
-    <group if="$(arg open_rviz)"> 
-      <node pkg="rviz" type="rviz" name="rviz" required="true"
-            args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/>
-    </group>
-  </group>
-
-  <!-- launch the free fleet client first -->
-  <node name="turtlebot3_free_fleet_client_node" pkg="free_fleet_client_ros1"
-      type="free_fleet_client_ros1" output="screen">
-    <param name="fleet_name" type="string" value="turtlebot3"/>
-    <param name="robot_name" type="string" value="ros1_tb3_0"/>
-    <param name="level_name" type="string" value="turtlebot_world"/>
-    <param name="dds_domain" type="int" value="42"/>
-    <param name="max_dist_to_first_waypoint" type="double" value="10.0"/>
-  </node>
-
-</launch>
diff --git a/ff_examples_ros1/maps/house.pgm b/ff_examples_ros1/maps/house.pgm
deleted file mode 100644
index a2051961..00000000
--- a/ff_examples_ros1/maps/house.pgm
+++ /dev/null
@@ -1,5 +0,0 @@
-P5
-# CREATOR: map_saver.cpp 0.050 m/pix
-384 384
-255
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\ No newline at end of file
diff --git a/ff_examples_ros1/maps/house.yaml b/ff_examples_ros1/maps/house.yaml
deleted file mode 100644
index 25abc0ce..00000000
--- a/ff_examples_ros1/maps/house.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-image: house.pgm
-resolution: 0.050000
-origin: [-10.000000, -10.000000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
-
diff --git a/ff_examples_ros1/maps/world.pgm b/ff_examples_ros1/maps/world.pgm
deleted file mode 100644
index ffc656ab..00000000
--- a/ff_examples_ros1/maps/world.pgm
+++ /dev/null
@@ -1,5 +0,0 @@
-P5
-# CREATOR: map_saver.cpp 0.050 m/pix
-384 384
-255
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ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ
\ No newline at end of file
diff --git a/ff_examples_ros1/maps/world.yaml b/ff_examples_ros1/maps/world.yaml
deleted file mode 100644
index 44db18ac..00000000
--- a/ff_examples_ros1/maps/world.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-image: world.pgm
-resolution: 0.050000
-origin: [-10.000000, -10.000000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
diff --git a/ff_examples_ros1/package.xml b/ff_examples_ros1/package.xml
deleted file mode 100644
index 851a3179..00000000
--- a/ff_examples_ros1/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>ff_examples_ros1</name>
-  <version>1.3.0</version>
-  <description>A package containing some examples of using free fleet ROS1 components</description>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
-  <license>Apache 2.0</license>
-  <author email="aaron@openrobotics.org">Aaron Chong</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <exec_depend>ff_rviz_plugins_ros1</exec_depend>
-  <exec_depend>free_fleet_client_ros1</exec_depend>
-
-  <exec_depend>turtlebot3_bringup</exec_depend>
-  <exec_depend>turtlebot3_gazebo</exec_depend>
-  <exec_depend>turtlebot3_navigation</exec_depend>
-  <exec_depend>gazebo_plugins</exec_depend>
-  <exec_depend>dwa_local_planner</exec_depend>
-  <exec_depend>amcl</exec_depend>
-  <exec_depend>move_base</exec_depend>
-  <exec_depend>map_server</exec_depend>
-  <exec_depend>tf2</exec_depend>
-</package>
diff --git a/ff_examples_ros1/rviz/multi_turtlebot3_ff.rviz b/ff_examples_ros1/rviz/multi_turtlebot3_ff.rviz
deleted file mode 100644
index a7848aeb..00000000
--- a/ff_examples_ros1/rviz/multi_turtlebot3_ff.rviz
+++ /dev/null
@@ -1,1025 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 70
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /TF1/Frames1
-        - /TF1/Tree1
-      Splitter Ratio: 0.4002998471260071
-    Tree Height: 172
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: LaserScan
-  - Class: ff_rviz_plugins_ros1/FFNavToolPanel
-    Name: FFNavToolPanel
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 20
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        map:
-          Value: true
-        tb3_0/base_footprint:
-          Value: true
-        tb3_0/base_link:
-          Value: true
-        tb3_0/base_scan:
-          Value: true
-        tb3_0/camera_depth_frame:
-          Value: true
-        tb3_0/camera_depth_optical_frame:
-          Value: true
-        tb3_0/camera_link:
-          Value: true
-        tb3_0/camera_rgb_frame:
-          Value: true
-        tb3_0/camera_rgb_optical_frame:
-          Value: true
-        tb3_0/caster_back_left_link:
-          Value: true
-        tb3_0/caster_back_right_link:
-          Value: true
-        tb3_0/imu_link:
-          Value: true
-        tb3_0/odom:
-          Value: true
-        tb3_0/wheel_left_link:
-          Value: true
-        tb3_0/wheel_right_link:
-          Value: true
-        tb3_1/base_footprint:
-          Value: true
-        tb3_1/base_link:
-          Value: true
-        tb3_1/base_scan:
-          Value: true
-        tb3_1/camera_depth_frame:
-          Value: true
-        tb3_1/camera_depth_optical_frame:
-          Value: true
-        tb3_1/camera_link:
-          Value: true
-        tb3_1/camera_rgb_frame:
-          Value: true
-        tb3_1/camera_rgb_optical_frame:
-          Value: true
-        tb3_1/caster_back_left_link:
-          Value: true
-        tb3_1/caster_back_right_link:
-          Value: true
-        tb3_1/imu_link:
-          Value: true
-        tb3_1/odom:
-          Value: true
-        tb3_1/wheel_left_link:
-          Value: true
-        tb3_1/wheel_right_link:
-          Value: true
-        tb3_2/base_footprint:
-          Value: true
-        tb3_2/base_link:
-          Value: true
-        tb3_2/base_scan:
-          Value: true
-        tb3_2/camera_depth_frame:
-          Value: true
-        tb3_2/camera_depth_optical_frame:
-          Value: true
-        tb3_2/camera_link:
-          Value: true
-        tb3_2/camera_rgb_frame:
-          Value: true
-        tb3_2/camera_rgb_optical_frame:
-          Value: true
-        tb3_2/caster_back_left_link:
-          Value: true
-        tb3_2/caster_back_right_link:
-          Value: true
-        tb3_2/imu_link:
-          Value: true
-        tb3_2/odom:
-          Value: true
-        tb3_2/wheel_left_link:
-          Value: true
-        tb3_2/wheel_right_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: false
-      Tree:
-        map:
-          tb3_0/odom:
-            tb3_0/base_footprint:
-              tb3_0/base_link:
-                tb3_0/base_scan:
-                  {}
-                tb3_0/camera_link:
-                  tb3_0/camera_depth_frame:
-                    tb3_0/camera_depth_optical_frame:
-                      {}
-                  tb3_0/camera_rgb_frame:
-                    tb3_0/camera_rgb_optical_frame:
-                      {}
-                tb3_0/caster_back_left_link:
-                  {}
-                tb3_0/caster_back_right_link:
-                  {}
-                tb3_0/imu_link:
-                  {}
-                tb3_0/wheel_left_link:
-                  {}
-                tb3_0/wheel_right_link:
-                  {}
-          tb3_1/odom:
-            tb3_1/base_footprint:
-              tb3_1/base_link:
-                tb3_1/base_scan:
-                  {}
-                tb3_1/camera_link:
-                  tb3_1/camera_depth_frame:
-                    tb3_1/camera_depth_optical_frame:
-                      {}
-                  tb3_1/camera_rgb_frame:
-                    tb3_1/camera_rgb_optical_frame:
-                      {}
-                tb3_1/caster_back_left_link:
-                  {}
-                tb3_1/caster_back_right_link:
-                  {}
-                tb3_1/imu_link:
-                  {}
-                tb3_1/wheel_left_link:
-                  {}
-                tb3_1/wheel_right_link:
-                  {}
-          tb3_2/odom:
-            tb3_2/base_footprint:
-              tb3_2/base_link:
-                tb3_2/base_scan:
-                  {}
-                tb3_2/camera_link:
-                  tb3_2/camera_depth_frame:
-                    tb3_2/camera_depth_optical_frame:
-                      {}
-                  tb3_2/camera_rgb_frame:
-                    tb3_2/camera_rgb_optical_frame:
-                      {}
-                tb3_2/caster_back_left_link:
-                  {}
-                tb3_2/caster_back_right_link:
-                  {}
-                tb3_2/imu_link:
-                  {}
-                tb3_2/wheel_left_link:
-                  {}
-                tb3_2/wheel_right_link:
-                  {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 0.699999988079071
-      Class: rviz/Map
-      Color Scheme: map
-      Draw Behind: false
-      Enabled: true
-      Name: Map
-      Topic: /map
-      Unreliable: false
-      Use Timestamp: false
-      Value: true
-    - Class: rviz/Group
-      Displays:
-        - Class: rviz/Group
-          Displays:
-            - Alpha: 0.699999988079071
-              Class: rviz/Map
-              Color Scheme: costmap
-              Draw Behind: true
-              Enabled: true
-              Name: Costmap
-              Topic: /tb3_0/move_base/global_costmap/costmap
-              Unreliable: false
-              Use Timestamp: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 255; 0; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: Planner
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_0/move_base/DWAPlannerROS/global_plan
-              Unreliable: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 0; 0; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: Planner Plan
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_0/move_base/NavfnROS/plan
-              Unreliable: false
-              Value: true
-          Enabled: true
-          Name: Global Map
-        - Class: rviz/Group
-          Displays:
-            - Alpha: 1
-              Class: rviz/Polygon
-              Color: 0; 0; 0
-              Enabled: true
-              Name: Polygon
-              Topic: /tb3_0/move_base/local_costmap/footprint
-              Unreliable: false
-              Value: true
-            - Alpha: 0.699999988079071
-              Class: rviz/Map
-              Color Scheme: costmap
-              Draw Behind: false
-              Enabled: true
-              Name: Costmap
-              Topic: /tb3_0/move_base/local_costmap/costmap
-              Unreliable: false
-              Use Timestamp: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 255; 255; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: Planner
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_0/move_base/DWAPlannerROS/local_plan
-              Unreliable: false
-              Value: true
-          Enabled: true
-          Name: Local Map
-        - Alpha: 1
-          Arrow Length: 0.05000000074505806
-          Axes Length: 0.30000001192092896
-          Axes Radius: 0.009999999776482582
-          Class: rviz/PoseArray
-          Color: 0; 192; 0
-          Enabled: true
-          Head Length: 0.07000000029802322
-          Head Radius: 0.029999999329447746
-          Name: Amcl Particles
-          Shaft Length: 0.23000000417232513
-          Shaft Radius: 0.009999999776482582
-          Shape: Arrow (Flat)
-          Topic: /tb3_0/particlecloud
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Axes Length: 1
-          Axes Radius: 0.10000000149011612
-          Class: rviz/Pose
-          Color: 255; 25; 0
-          Enabled: true
-          Head Length: 0.30000001192092896
-          Head Radius: 0.10000000149011612
-          Name: Goal
-          Shaft Length: 0.5
-          Shaft Radius: 0.05000000074505806
-          Shape: Arrow
-          Topic: /tb3_0/move_base/current_goal
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Autocompute Intensity Bounds: true
-          Autocompute Value Bounds:
-            Max Value: 10
-            Min Value: -10
-            Value: true
-          Axis: Z
-          Channel Name: intensity
-          Class: rviz/LaserScan
-          Color: 255; 255; 255
-          Color Transformer: Intensity
-          Decay Time: 0
-          Enabled: true
-          Invert Rainbow: false
-          Max Color: 255; 255; 255
-          Max Intensity: 0
-          Min Color: 0; 0; 0
-          Min Intensity: 0
-          Name: LaserScan
-          Position Transformer: XYZ
-          Queue Size: 10
-          Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.009999999776482582
-          Style: Flat Squares
-          Topic: /tb3_0/scan
-          Unreliable: false
-          Use Fixed Frame: true
-          Use rainbow: true
-          Value: true
-        - Alpha: 1
-          Class: rviz/RobotModel
-          Collision Enabled: false
-          Enabled: true
-          Links:
-            All Links Enabled: true
-            Expand Joint Details: false
-            Expand Link Details: false
-            Expand Tree: false
-            Link Tree Style: Links in Alphabetic Order
-            base_footprint:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            base_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            base_scan:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            camera_depth_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_depth_optical_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            camera_rgb_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_rgb_optical_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            caster_back_left_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            caster_back_right_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            imu_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            wheel_left_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            wheel_right_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-          Name: RobotModel
-          Robot Description: tb3_0/robot_description
-          TF Prefix: tb3_0
-          Update Interval: 0
-          Value: true
-          Visual Enabled: true
-      Enabled: true
-      Name: tb3_0
-    - Class: rviz/Group
-      Displays:
-        - Class: rviz/Group
-          Displays:
-            - Alpha: 0.699999988079071
-              Class: rviz/Map
-              Color Scheme: costmap
-              Draw Behind: true
-              Enabled: true
-              Name: Costmap
-              Topic: /tb3_1/move_base/global_costmap/costmap
-              Unreliable: false
-              Use Timestamp: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 255; 0; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: Planner
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_1/move_base/DWAPlannerROS/global_plan
-              Unreliable: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 0; 0; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: Planner Plan
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_1/move_base/NavfnROS/plan
-              Unreliable: false
-              Value: true
-          Enabled: true
-          Name: Global Map
-        - Class: rviz/Group
-          Displays:
-            - Alpha: 1
-              Class: rviz/Polygon
-              Color: 0; 0; 0
-              Enabled: true
-              Name: Polygon
-              Topic: /tb3_1/move_base/local_costmap/footprint
-              Unreliable: false
-              Value: true
-            - Alpha: 0.699999988079071
-              Class: rviz/Map
-              Color Scheme: costmap
-              Draw Behind: false
-              Enabled: true
-              Name: Costmap
-              Topic: /tb3_1/move_base/local_costmap/costmap
-              Unreliable: false
-              Use Timestamp: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 255; 255; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: Planner
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_1/move_base/DWAPlannerROS/local_plan
-              Unreliable: false
-              Value: true
-          Enabled: true
-          Name: Local Map
-        - Alpha: 1
-          Arrow Length: 0.05000000074505806
-          Axes Length: 0.30000001192092896
-          Axes Radius: 0.009999999776482582
-          Class: rviz/PoseArray
-          Color: 0; 192; 0
-          Enabled: true
-          Head Length: 0.07000000029802322
-          Head Radius: 0.029999999329447746
-          Name: Amcl Particles
-          Shaft Length: 0.23000000417232513
-          Shaft Radius: 0.009999999776482582
-          Shape: Arrow (Flat)
-          Topic: /tb3_1/particlecloud
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Axes Length: 1
-          Axes Radius: 0.10000000149011612
-          Class: rviz/Pose
-          Color: 255; 25; 0
-          Enabled: true
-          Head Length: 0.30000001192092896
-          Head Radius: 0.10000000149011612
-          Name: Goal
-          Shaft Length: 0.5
-          Shaft Radius: 0.05000000074505806
-          Shape: Arrow
-          Topic: /tb3_1/move_base/current_goal
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Autocompute Intensity Bounds: true
-          Autocompute Value Bounds:
-            Max Value: 10
-            Min Value: -10
-            Value: true
-          Axis: Z
-          Channel Name: intensity
-          Class: rviz/LaserScan
-          Color: 255; 255; 255
-          Color Transformer: Intensity
-          Decay Time: 0
-          Enabled: true
-          Invert Rainbow: false
-          Max Color: 255; 255; 255
-          Max Intensity: 0
-          Min Color: 0; 0; 0
-          Min Intensity: 0
-          Name: LaserScan
-          Position Transformer: XYZ
-          Queue Size: 10
-          Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.009999999776482582
-          Style: Flat Squares
-          Topic: /tb3_1/scan
-          Unreliable: false
-          Use Fixed Frame: true
-          Use rainbow: true
-          Value: true
-        - Alpha: 1
-          Class: rviz/RobotModel
-          Collision Enabled: false
-          Enabled: true
-          Links:
-            All Links Enabled: true
-            Expand Joint Details: false
-            Expand Link Details: false
-            Expand Tree: false
-            Link Tree Style: Links in Alphabetic Order
-            base_footprint:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            base_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            base_scan:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            camera_depth_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_depth_optical_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            camera_rgb_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_rgb_optical_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            caster_back_left_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            caster_back_right_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            imu_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            wheel_left_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            wheel_right_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-          Name: RobotModel
-          Robot Description: tb3_1/robot_description
-          TF Prefix: tb3_1
-          Update Interval: 0
-          Value: true
-          Visual Enabled: true
-      Enabled: true
-      Name: tb3_1
-    - Class: rviz/Group
-      Displays:
-        - Class: rviz/Group
-          Displays:
-            - Alpha: 0.699999988079071
-              Class: rviz/Map
-              Color Scheme: costmap
-              Draw Behind: true
-              Enabled: true
-              Name: Costmap
-              Topic: /tb3_2/move_base/global_costmap/costmap
-              Unreliable: false
-              Use Timestamp: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 255; 0; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: Planner
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_2/move_base/DWAPlannerROS/global_plan
-              Unreliable: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 0; 0; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: tb3_0 Planner Plan
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_2/move_base/NavfnROS/plan
-              Unreliable: false
-              Value: true
-          Enabled: true
-          Name: Global Map
-        - Class: rviz/Group
-          Displays:
-            - Alpha: 1
-              Class: rviz/Polygon
-              Color: 0; 0; 0
-              Enabled: true
-              Name: Polygon
-              Topic: /tb3_2/move_base/local_costmap/footprint
-              Unreliable: false
-              Value: true
-            - Alpha: 0.699999988079071
-              Class: rviz/Map
-              Color Scheme: costmap
-              Draw Behind: false
-              Enabled: true
-              Name: Costmap
-              Topic: /tb3_2/move_base/local_costmap/costmap
-              Unreliable: false
-              Use Timestamp: false
-              Value: true
-            - Alpha: 1
-              Buffer Length: 1
-              Class: rviz/Path
-              Color: 255; 255; 0
-              Enabled: true
-              Head Diameter: 0.30000001192092896
-              Head Length: 0.20000000298023224
-              Length: 0.30000001192092896
-              Line Style: Lines
-              Line Width: 0.029999999329447746
-              Name: Planner
-              Offset:
-                X: 0
-                Y: 0
-                Z: 0
-              Pose Color: 255; 85; 255
-              Pose Style: None
-              Radius: 0.029999999329447746
-              Shaft Diameter: 0.10000000149011612
-              Shaft Length: 0.10000000149011612
-              Topic: /tb3_2/move_base/DWAPlannerROS/local_plan
-              Unreliable: false
-              Value: true
-          Enabled: true
-          Name: Local Map
-        - Alpha: 1
-          Arrow Length: 0.05000000074505806
-          Axes Length: 0.30000001192092896
-          Axes Radius: 0.009999999776482582
-          Class: rviz/PoseArray
-          Color: 0; 192; 0
-          Enabled: true
-          Head Length: 0.07000000029802322
-          Head Radius: 0.029999999329447746
-          Name: Amcl Particles
-          Shaft Length: 0.23000000417232513
-          Shaft Radius: 0.009999999776482582
-          Shape: Arrow (Flat)
-          Topic: /tb3_2/particlecloud
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Axes Length: 1
-          Axes Radius: 0.10000000149011612
-          Class: rviz/Pose
-          Color: 255; 25; 0
-          Enabled: true
-          Head Length: 0.30000001192092896
-          Head Radius: 0.10000000149011612
-          Name: Goal
-          Shaft Length: 0.5
-          Shaft Radius: 0.05000000074505806
-          Shape: Arrow
-          Topic: /tb3_2/move_base/current_goal
-          Unreliable: false
-          Value: true
-        - Alpha: 1
-          Autocompute Intensity Bounds: true
-          Autocompute Value Bounds:
-            Max Value: 10
-            Min Value: -10
-            Value: true
-          Axis: Z
-          Channel Name: intensity
-          Class: rviz/LaserScan
-          Color: 255; 255; 255
-          Color Transformer: Intensity
-          Decay Time: 0
-          Enabled: true
-          Invert Rainbow: false
-          Max Color: 255; 255; 255
-          Max Intensity: 0
-          Min Color: 0; 0; 0
-          Min Intensity: 0
-          Name: LaserScan
-          Position Transformer: XYZ
-          Queue Size: 10
-          Selectable: true
-          Size (Pixels): 3
-          Size (m): 0.009999999776482582
-          Style: Flat Squares
-          Topic: /tb3_2/scan
-          Unreliable: false
-          Use Fixed Frame: true
-          Use rainbow: true
-          Value: true
-        - Alpha: 1
-          Class: rviz/RobotModel
-          Collision Enabled: false
-          Enabled: true
-          Links:
-            All Links Enabled: true
-            Expand Joint Details: false
-            Expand Link Details: false
-            Expand Tree: false
-            Link Tree Style: Links in Alphabetic Order
-            base_footprint:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            base_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            base_scan:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            camera_depth_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_depth_optical_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            camera_rgb_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            camera_rgb_optical_frame:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            caster_back_left_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            caster_back_right_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            imu_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-            wheel_left_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-            wheel_right_link:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
-              Value: true
-          Name: RobotModel
-          Robot Description: tb3_2/robot_description
-          TF Prefix: tb3_2
-          Update Interval: 0
-          Value: true
-          Visual Enabled: true
-      Enabled: true
-      Name: tb3_2
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/MoveCamera
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/Select
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/Measure
-  Value: true
-  Views:
-    Current:
-      Angle: -1.5707963705062866
-      Class: rviz/TopDownOrtho
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Scale: 50.349708557128906
-      Target Frame: <Fixed Frame>
-      Value: TopDownOrtho (rviz)
-      X: -0.1205674335360527
-      Y: -1.3848739862442017
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  FFNavToolPanel:
-    collapsed: false
-  Height: 872
-  Hide Left Dock: false
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001860000030efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000012f000000c900fffffffb0000000a0049006d0061006700650000000318000000cc0000000000000000fb0000000a0049006d0061006700650000000330000000ce0000000000000000fb0000000c00540065006c0065006f007000000002b6000000950000004700fffffffb0000001c00460046004e006100760054006f006f006c00500061006e0065006c0100000172000001d90000014700fffffffb0000001c00460046004e006100760054006f006f006c00500061006e0065006c0100000195000001b60000000000000000000000010000010f000003a0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000043000003a0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b40000030e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 1600
-  X: 1920
-  Y: 0
diff --git a/ff_examples_ros2/CHANGELOG.rst b/ff_examples_ros2/CHANGELOG.rst
deleted file mode 100644
index 5b1fac56..00000000
--- a/ff_examples_ros2/CHANGELOG.rst
+++ /dev/null
@@ -1,11 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package ff_examples_ros2
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Forthcoming
------------
-
-1.0.0 (2020-06-11)
-------------------
-* Provides examples of running free fleet servers with the ROS 1 turtlebot3 simulation examples.
-* Contributors: Aaron Chong
diff --git a/ff_examples_ros2/CMakeLists.txt b/ff_examples_ros2/CMakeLists.txt
deleted file mode 100644
index 67e35c90..00000000
--- a/ff_examples_ros2/CMakeLists.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-cmake_minimum_required(VERSION 3.5.0)
-
-project(ff_examples_ros2)
-
-find_package(ament_cmake QUIET)
-
-if (ament_cmake_FOUND)
-
-  install(
-    DIRECTORY
-      launch
-      maps
-      params
-    DESTINATION share/${PROJECT_NAME}
-  )
-
-  install(
-    PROGRAMS 
-      scripts/send_destination_request.py
-      scripts/send_path_request.py
-      scripts/send_mode_request.py
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  ament_package()
-
-else()
-  message("ament_cmake not found so skipping this ROS2 package")
-endif()
diff --git a/ff_examples_ros2/launch/fake_client.launch.xml b/ff_examples_ros2/launch/fake_client.launch.xml
deleted file mode 100644
index 2e1921be..00000000
--- a/ff_examples_ros2/launch/fake_client.launch.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version='1.0' ?>
-
-<launch>
-  <node pkg="free_fleet_client_ros2" exec="fake_action_server" name="fake_action_server" />
-
-  <node pkg="free_fleet_client_ros2" exec="fake_docking_server" name="fake_docking_server" />
-
-  <node pkg="tf2_ros" exec="static_transform_publisher" name="fake_robot_transform" args="0.0 0.0 0.0 0.0 0.0 0.0 1.0 base_footprint map" output="both"/>
-
-  <node pkg="free_fleet_client_ros2" exec="free_fleet_client_ros2" name="fake_client_node" output="both">
-    <param name="fleet_name" value="fake_fleet"/>
-    <param name="robot_name" value="fake_ros2_robot"/>
-    <param name="robot_model" value="fake_robot_model"/>
-    <param name="level_name" value="L1"/>
-    <param name="dds_domain" value="42"/>
-    <param name="max_dist_to_first_waypoint" value="10.0"/>
-    <param name="nav2_server_name" value="/navigate_to_pose_fake"/>
-    <param name="docking_trigger_server_name" value="/dock_fake"/>
-  </node>
-
-</launch>
diff --git a/ff_examples_ros2/launch/fake_server.launch.xml b/ff_examples_ros2/launch/fake_server.launch.xml
deleted file mode 100644
index 75c1ec1c..00000000
--- a/ff_examples_ros2/launch/fake_server.launch.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<?xml version='1.0' ?>
-
-<launch>
-
-  <node pkg="free_fleet_server_ros2"
-      exec="free_fleet_server_ros2"
-      name="fake_server_node"
-      output="both">
-
-    <param name="fleet_name" value="fake_fleet"/>
-
-    <param name="fleet_state_topic" value="fleet_states"/>
-    <param name="mode_request_topic" value="robot_mode_requests"/>
-    <param name="path_request_topic" value="robot_path_requests"/>
-    <param name="destination_request_topic" value="robot_destination_requests"/>
-
-    <param name="dds_domain" value="42"/>
-    <param name="dds_robot_state_topic" value="robot_state"/>
-    <param name="dds_mode_request_topic" value="mode_request"/>
-    <param name="dds_path_request_topic" value="path_request"/>
-    <param name="dds_destination_request_topic" value="destination_request"/>
-
-    <param name="update_state_frequency" value="20.0"/>
-    <param name="publish_state_frequency" value="2.0"/>
-
-    <param name="translation_x" value="-4.117"/>
-    <param name="translation_y" value="27.26"/>
-    <param name="rotation" value="-0.013"/>
-    <param name="scale" value="0.928"/>
-
-  </node>
-
-</launch>
-
diff --git a/ff_examples_ros2/launch/turtlebot3_world_ff.launch.xml b/ff_examples_ros2/launch/turtlebot3_world_ff.launch.xml
deleted file mode 100644
index 9124caa1..00000000
--- a/ff_examples_ros2/launch/turtlebot3_world_ff.launch.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version='1.0' ?>
-<launch>
-  <arg name="model" default="$(env TURTLEBOT3_MODEL)"/>
-  <arg name="map_file" default="$(find-pkg-share ff_examples_ros2)/maps/world.yaml"/>
-  <arg name="param_dir" default="$(find-pkg-share ff_examples_ros2)/params"/>
-
-  <!-- launches the basic turtlebot3 world with one basic turtlebot -->
-  <include file="$(find-pkg-share turtlebot3_gazebo)/launch/turtlebot3_world.launch.py"/>
-
-  <!-- launch the navigation stack with test maps -->
-  <include file="$(find-pkg-share turtlebot3_navigation2)/launch/navigation2.launch.py">
-    <arg name="use_sim_time" value="True"/>
-    <arg name="map" value="$(var map_file)"/>
-    <arg name="params_file" value="$(var param_dir)/turtlebot3_world_$(var model).yaml"/>
-  </include>
-
-  <!-- launch the free fleet client first -->
-  <node name="turtlebot3_free_fleet_client_node" pkg="free_fleet_client_ros2"
-      exec="free_fleet_client_ros2" output="both">
-    <param name="fleet_name" value="turtlebot3"/>
-    <param name="robot_name" value="ros2_tb3_0"/>
-    <param name="robot_model" value="turtlebot3"/>
-    <param name="level_name" value="turtlebot_world"/>
-    <param name="dds_domain" value="42"/>
-    <param name="max_dist_to_first_waypoint" value="10.0"/>
-    <param name="map_frame" value="map"/>
-    <param name="robot_frame" value="base_footprint"/>
-    <param name="nav2_server_name" value="/navigate_to_pose"/>
-    <param name="use_sim_time" value="True"/>
-    <param name="dds_domain" value="42"/>
-  </node>
-</launch>
-
diff --git a/ff_examples_ros2/launch/turtlebot3_world_ff_server.launch.xml b/ff_examples_ros2/launch/turtlebot3_world_ff_server.launch.xml
deleted file mode 100644
index 3c2be531..00000000
--- a/ff_examples_ros2/launch/turtlebot3_world_ff_server.launch.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<?xml version='1.0' ?>
-
-<launch>
-
-  <node pkg="free_fleet_server_ros2"
-      exec="free_fleet_server_ros2"
-      name="turtlebot3_fleet_server_node"
-      output="both">
-
-    <param name="fleet_name" value="turtlebot3"/>
-
-    <param name="fleet_state_topic" value="fleet_states"/>
-    <param name="mode_request_topic" value="robot_mode_requests"/>
-    <param name="path_request_topic" value="robot_path_requests"/>
-    <param name="destination_request_topic" value="robot_destination_requests"/>
-
-    <param name="dds_domain" value="42"/>
-    <param name="dds_robot_state_topic" value="robot_state"/>
-    <param name="dds_mode_request_topic" value="mode_request"/>
-    <param name="dds_path_request_topic" value="path_request"/>
-    <param name="dds_destination_request_topic" value="destination_request"/>
-
-    <param name="update_state_frequency" value="20.0"/>
-    <param name="publish_state_frequency" value="2.0"/>
-
-    <param name="translation_x" value="0.0"/>
-    <param name="translation_y" value="0.0"/>
-    <param name="rotation" value="0.0"/>
-    <param name="scale" value="1.0"/>
-
-  </node>
-
-</launch>
-
diff --git a/ff_examples_ros2/maps/house.pgm b/ff_examples_ros2/maps/house.pgm
deleted file mode 100644
index a2051961..00000000
--- a/ff_examples_ros2/maps/house.pgm
+++ /dev/null
@@ -1,5 +0,0 @@
-P5
-# CREATOR: map_saver.cpp 0.050 m/pix
-384 384
-255
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\ No newline at end of file
diff --git a/ff_examples_ros2/maps/house.yaml b/ff_examples_ros2/maps/house.yaml
deleted file mode 100644
index 25abc0ce..00000000
--- a/ff_examples_ros2/maps/house.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-image: house.pgm
-resolution: 0.050000
-origin: [-10.000000, -10.000000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
-
diff --git a/ff_examples_ros2/maps/world.pgm b/ff_examples_ros2/maps/world.pgm
deleted file mode 100644
index ffc656ab..00000000
--- a/ff_examples_ros2/maps/world.pgm
+++ /dev/null
@@ -1,5 +0,0 @@
-P5
-# CREATOR: map_saver.cpp 0.050 m/pix
-384 384
-255
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ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ
\ No newline at end of file
diff --git a/ff_examples_ros2/maps/world.yaml b/ff_examples_ros2/maps/world.yaml
deleted file mode 100644
index 44db18ac..00000000
--- a/ff_examples_ros2/maps/world.yaml
+++ /dev/null
@@ -1,6 +0,0 @@
-image: world.pgm
-resolution: 0.050000
-origin: [-10.000000, -10.000000, 0.000000]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196
diff --git a/ff_examples_ros2/package.xml b/ff_examples_ros2/package.xml
deleted file mode 100644
index 90bda554..00000000
--- a/ff_examples_ros2/package.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>ff_examples_ros2</name>
-  <version>1.3.0</version>
-  <description>A package containing some examples of using free fleet ROS 2 components</description>
-  <maintainer email="aaron@openrobotics.org">Aaron</maintainer>
-  <license>Apache License 2.0</license>
-
-  <exec_depend>rclpy</exec_depend>
-  <exec_depend>rmf_fleet_msgs</exec_depend>
-  <exec_depend>free_fleet_client_ros2</exec_depend>
-  <exec_depend>free_fleet_server_ros2</exec_depend>
-  <exec_depend>turtlebot3_gazebo</exec_depend>
-  <exec_depend>turtlebot3_navigation2</exec_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/ff_examples_ros2/params/turtlebot3_world_burger.yaml b/ff_examples_ros2/params/turtlebot3_world_burger.yaml
deleted file mode 100644
index 44c95736..00000000
--- a/ff_examples_ros2/params/turtlebot3_world_burger.yaml
+++ /dev/null
@@ -1,356 +0,0 @@
-amcl:
-  ros__parameters:
-    use_sim_time: False
-    alpha1: 0.2
-    alpha2: 0.2
-    alpha3: 0.2
-    alpha4: 0.2
-    alpha5: 0.2
-    base_frame_id: "base_footprint"
-    beam_skip_distance: 0.5
-    beam_skip_error_threshold: 0.9
-    beam_skip_threshold: 0.3
-    do_beamskip: false
-    global_frame_id: "map"
-    lambda_short: 0.1
-    laser_likelihood_max_dist: 2.0
-    laser_max_range: 100.0
-    laser_min_range: -1.0
-    laser_model_type: "likelihood_field"
-    max_beams: 60
-    max_particles: 2000
-    min_particles: 500
-    odom_frame_id: "odom"
-    pf_err: 0.05
-    pf_z: 0.99
-    recovery_alpha_fast: 0.0
-    recovery_alpha_slow: 0.0
-    resample_interval: 1
-    robot_model_type: "nav2_amcl::DifferentialMotionModel"
-    save_pose_rate: 0.5
-    sigma_hit: 0.2
-    tf_broadcast: true
-    transform_tolerance: 1.0
-    update_min_a: 0.2
-    update_min_d: 0.25
-    z_hit: 0.5
-    z_max: 0.05
-    z_rand: 0.5
-    z_short: 0.05
-    scan_topic: scan
-    set_initial_pose: true
-    initial_pose:
-      x: -1.8949996233
-      y: -0.419999837875
-      z: 0.0
-      a: -0.0208304
-
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: False
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-bt_navigator:
-  ros__parameters:
-    use_sim_time: False
-    global_frame: map
-    robot_base_frame: base_link
-    odom_topic: /odom
-    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
-    bt_loop_duration: 10
-    default_server_timeout: 20
-    enable_groot_monitoring: True
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-    plugin_lib_names:
-    - nav2_compute_path_to_pose_action_bt_node
-    - nav2_compute_path_through_poses_action_bt_node
-    - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_bt_node
-    - nav2_clear_costmap_service_bt_node
-    - nav2_is_stuck_condition_bt_node
-    - nav2_goal_reached_condition_bt_node
-    - nav2_goal_updated_condition_bt_node
-    - nav2_initial_pose_received_condition_bt_node
-    - nav2_reinitialize_global_localization_service_bt_node
-    - nav2_rate_controller_bt_node
-    - nav2_distance_controller_bt_node
-    - nav2_speed_controller_bt_node
-    - nav2_truncate_path_action_bt_node
-    - nav2_goal_updater_node_bt_node
-    - nav2_recovery_node_bt_node
-    - nav2_pipeline_sequence_bt_node
-    - nav2_round_robin_node_bt_node
-    - nav2_transform_available_condition_bt_node
-    - nav2_time_expired_condition_bt_node
-    - nav2_distance_traveled_condition_bt_node
-    - nav2_single_trigger_bt_node
-    - nav2_is_battery_low_condition_bt_node
-    - nav2_navigate_through_poses_action_bt_node
-    - nav2_navigate_to_pose_action_bt_node
-    - nav2_remove_passed_goals_action_bt_node
-    - nav2_planner_selector_bt_node
-    - nav2_controller_selector_bt_node
-    - nav2_goal_checker_selector_bt_node
-
-bt_navigator_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-controller_server:
-  ros__parameters:
-    use_sim_time: False
-    controller_frequency: 20.0
-    min_x_velocity_threshold: 0.001
-    min_y_velocity_threshold: 0.5
-    min_theta_velocity_threshold: 0.001
-    failure_tolerance: 0.3
-    progress_checker_plugin: "progress_checker"
-    goal_checker_plugins: ["general_goal_checker"]
-    controller_plugins: ["FollowPath"]
-
-    # Progress checker parameters
-    progress_checker:
-      plugin: "nav2_controller::SimpleProgressChecker"
-      required_movement_radius: 0.5
-      movement_time_allowance: 10.0
-
-    general_goal_checker:
-      stateful: True
-      plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.25
-      yaw_goal_tolerance: 0.25
-
-    # DWB parameters
-    FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
-      debug_trajectory_details: True
-      min_vel_x: 0.0
-      min_vel_y: 0.0
-      max_vel_x: 0.22
-      max_vel_y: 0.0
-      max_vel_theta: 1.0
-      min_speed_xy: 0.0
-      max_speed_xy: 0.22
-      min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
-      acc_lim_x: 2.5
-      acc_lim_y: 0.0
-      acc_lim_theta: 3.2
-      decel_lim_x: -2.5
-      decel_lim_y: 0.0
-      decel_lim_theta: -3.2
-      vx_samples: 20
-      vy_samples: 5
-      vtheta_samples: 20
-      sim_time: 1.7
-      linear_granularity: 0.05
-      angular_granularity: 0.025
-      transform_tolerance: 0.2
-      xy_goal_tolerance: 0.25
-      trans_stopped_velocity: 0.25
-      short_circuit_trajectory_evaluation: True
-      stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-      BaseObstacle.scale: 0.02
-      PathAlign.scale: 32.0
-      PathAlign.forward_point_distance: 0.1
-      GoalAlign.scale: 24.0
-      GoalAlign.forward_point_distance: 0.1
-      PathDist.scale: 32.0
-      GoalDist.scale: 24.0
-      RotateToGoal.scale: 32.0
-      RotateToGoal.slowing_factor: 5.0
-      RotateToGoal.lookahead_time: -1.0
-
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-local_costmap:
-  local_costmap:
-    ros__parameters:
-      update_frequency: 5.0
-      publish_frequency: 2.0
-      global_frame: odom
-      robot_base_frame: base_link
-      use_sim_time: False
-      rolling_window: true
-      width: 3
-      height: 3
-      resolution: 0.05
-      robot_radius: 0.1
-      plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 1.0
-        inflation_radius: 0.55
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
-        enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
-        enabled: True
-        publish_voxel_map: True
-        origin_z: 0.0
-        z_resolution: 0.05
-        z_voxels: 16
-        max_obstacle_height: 2.0
-        mark_threshold: 0
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      static_layer:
-        map_subscribe_transient_local: True
-      always_send_full_costmap: True
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: False
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: False
-
-global_costmap:
-  global_costmap:
-    ros__parameters:
-      update_frequency: 1.0
-      publish_frequency: 1.0
-      global_frame: map
-      robot_base_frame: base_link
-      use_sim_time: True
-      robot_radius: 0.1
-      resolution: 0.05
-      track_unknown_space: true
-      plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
-        enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
-        enabled: True
-        publish_voxel_map: True
-        origin_z: 0.0
-        z_resolution: 0.05
-        z_voxels: 16
-        max_obstacle_height: 2.0
-        mark_threshold: 0
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      static_layer:
-        plugin: "nav2_costmap_2d::StaticLayer"
-        map_subscribe_transient_local: True
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
-      always_send_full_costmap: True
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: False
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: False
-
-map_server:
-  ros__parameters:
-    use_sim_time: False
-    yaml_filename: "map.yaml"
-
-map_saver:
-  ros__parameters:
-    use_sim_time: False
-    save_map_timeout: 5.0
-    free_thresh_default: 0.25
-    occupied_thresh_default: 0.65
-    map_subscribe_transient_local: True
-
-planner_server:
-  ros__parameters:
-    expected_planner_frequency: 20.0
-    use_sim_time: False
-    planner_plugins: ["GridBased"]
-    GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
-      tolerance: 0.5
-      use_astar: false
-      allow_unknown: true
-
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-recoveries_server:
-  ros__parameters:
-    costmap_topic: local_costmap/costmap_raw
-    footprint_topic: local_costmap/published_footprint
-    cycle_frequency: 10.0
-    recovery_plugins: ["spin", "backup", "wait"]
-    spin:
-      plugin: "nav2_recoveries/Spin"
-    backup:
-      plugin: "nav2_recoveries/BackUp"
-    wait:
-      plugin: "nav2_recoveries/Wait"
-    global_frame: odom
-    robot_base_frame: base_link
-    transform_timeout: 0.1
-    use_sim_time: true
-    simulate_ahead_time: 2.0
-    max_rotational_vel: 1.0
-    min_rotational_vel: 0.4
-    rotational_acc_lim: 3.2
-
-robot_state_publisher:
-  ros__parameters:
-    use_sim_time: False
-
-waypoint_follower:
-  ros__parameters:
-    loop_rate: 2000
-    stop_on_failure: false
-    waypoint_task_executor_plugin: "wait_at_waypoint"
-    wait_at_waypoint:
-      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
-      enabled: True
-      waypoint_pause_duration: 200
diff --git a/ff_examples_ros2/params/turtlebot3_world_waffle.yaml b/ff_examples_ros2/params/turtlebot3_world_waffle.yaml
deleted file mode 100644
index 746b5b7f..00000000
--- a/ff_examples_ros2/params/turtlebot3_world_waffle.yaml
+++ /dev/null
@@ -1,356 +0,0 @@
-amcl:
-  ros__parameters:
-    use_sim_time: False
-    alpha1: 0.2
-    alpha2: 0.2
-    alpha3: 0.2
-    alpha4: 0.2
-    alpha5: 0.2
-    base_frame_id: "base_footprint"
-    beam_skip_distance: 0.5
-    beam_skip_error_threshold: 0.9
-    beam_skip_threshold: 0.3
-    do_beamskip: false
-    global_frame_id: "map"
-    lambda_short: 0.1
-    laser_likelihood_max_dist: 2.0
-    laser_max_range: 100.0
-    laser_min_range: -1.0
-    laser_model_type: "likelihood_field"
-    max_beams: 60
-    max_particles: 2000
-    min_particles: 500
-    odom_frame_id: "odom"
-    pf_err: 0.05
-    pf_z: 0.99
-    recovery_alpha_fast: 0.0
-    recovery_alpha_slow: 0.0
-    resample_interval: 1
-    robot_model_type: "nav2_amcl::DifferentialMotionModel"
-    save_pose_rate: 0.5
-    sigma_hit: 0.2
-    tf_broadcast: true
-    transform_tolerance: 1.0
-    update_min_a: 0.2
-    update_min_d: 0.25
-    z_hit: 0.5
-    z_max: 0.05
-    z_rand: 0.5
-    z_short: 0.05
-    scan_topic: scan
-    set_initial_pose: true
-    initial_pose:
-      x: -1.8949996233
-      y: -0.419999837875
-      z: 0.0
-      a: -0.0208304
-
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: False
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-bt_navigator:
-  ros__parameters:
-    use_sim_time: False
-    global_frame: map
-    robot_base_frame: base_link
-    odom_topic: /odom
-    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
-    bt_loop_duration: 10
-    default_server_timeout: 20
-    enable_groot_monitoring: True
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-    plugin_lib_names:
-    - nav2_compute_path_to_pose_action_bt_node
-    - nav2_compute_path_through_poses_action_bt_node
-    - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_bt_node
-    - nav2_clear_costmap_service_bt_node
-    - nav2_is_stuck_condition_bt_node
-    - nav2_goal_reached_condition_bt_node
-    - nav2_goal_updated_condition_bt_node
-    - nav2_initial_pose_received_condition_bt_node
-    - nav2_reinitialize_global_localization_service_bt_node
-    - nav2_rate_controller_bt_node
-    - nav2_distance_controller_bt_node
-    - nav2_speed_controller_bt_node
-    - nav2_truncate_path_action_bt_node
-    - nav2_goal_updater_node_bt_node
-    - nav2_recovery_node_bt_node
-    - nav2_pipeline_sequence_bt_node
-    - nav2_round_robin_node_bt_node
-    - nav2_transform_available_condition_bt_node
-    - nav2_time_expired_condition_bt_node
-    - nav2_distance_traveled_condition_bt_node
-    - nav2_single_trigger_bt_node
-    - nav2_is_battery_low_condition_bt_node
-    - nav2_navigate_through_poses_action_bt_node
-    - nav2_navigate_to_pose_action_bt_node
-    - nav2_remove_passed_goals_action_bt_node
-    - nav2_planner_selector_bt_node
-    - nav2_controller_selector_bt_node
-    - nav2_goal_checker_selector_bt_node
-
-bt_navigator_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-controller_server:
-  ros__parameters:
-    use_sim_time: False
-    controller_frequency: 20.0
-    min_x_velocity_threshold: 0.001
-    min_y_velocity_threshold: 0.5
-    min_theta_velocity_threshold: 0.001
-    failure_tolerance: 0.3
-    progress_checker_plugin: "progress_checker"
-    goal_checker_plugins: ["general_goal_checker"]
-    controller_plugins: ["FollowPath"]
-
-    # Progress checker parameters
-    progress_checker:
-      plugin: "nav2_controller::SimpleProgressChecker"
-      required_movement_radius: 0.5
-      movement_time_allowance: 10.0
-
-    general_goal_checker:
-      stateful: True
-      plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.25
-      yaw_goal_tolerance: 0.25
-
-    # DWB parameters
-    FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
-      debug_trajectory_details: True
-      min_vel_x: 0.0
-      min_vel_y: 0.0
-      max_vel_x: 0.22
-      max_vel_y: 0.0
-      max_vel_theta: 1.0
-      min_speed_xy: 0.0
-      max_speed_xy: 0.22
-      min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
-      acc_lim_x: 2.5
-      acc_lim_y: 0.0
-      acc_lim_theta: 3.2
-      decel_lim_x: -2.5
-      decel_lim_y: 0.0
-      decel_lim_theta: -3.2
-      vx_samples: 20
-      vy_samples: 5
-      vtheta_samples: 20
-      sim_time: 1.7
-      linear_granularity: 0.05
-      angular_granularity: 0.025
-      transform_tolerance: 0.2
-      xy_goal_tolerance: 0.25
-      trans_stopped_velocity: 0.25
-      short_circuit_trajectory_evaluation: True
-      stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-      BaseObstacle.scale: 0.02
-      PathAlign.scale: 32.0
-      PathAlign.forward_point_distance: 0.1
-      GoalAlign.scale: 24.0
-      GoalAlign.forward_point_distance: 0.1
-      PathDist.scale: 32.0
-      GoalDist.scale: 24.0
-      RotateToGoal.scale: 32.0
-      RotateToGoal.slowing_factor: 5.0
-      RotateToGoal.lookahead_time: -1.0
-
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-local_costmap:
-  local_costmap:
-    ros__parameters:
-      update_frequency: 5.0
-      publish_frequency: 2.0
-      global_frame: odom
-      robot_base_frame: base_link
-      use_sim_time: False
-      rolling_window: true
-      width: 3
-      height: 3
-      resolution: 0.05
-      robot_radius: 0.22
-      plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 1.0
-        inflation_radius: 0.55
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
-        enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
-        enabled: True
-        publish_voxel_map: True
-        origin_z: 0.0
-        z_resolution: 0.05
-        z_voxels: 16
-        max_obstacle_height: 2.0
-        mark_threshold: 0
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      static_layer:
-        map_subscribe_transient_local: True
-      always_send_full_costmap: True
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: False
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: False
-
-global_costmap:
-  global_costmap:
-    ros__parameters:
-      update_frequency: 1.0
-      publish_frequency: 1.0
-      global_frame: map
-      robot_base_frame: base_link
-      use_sim_time: True
-      robot_radius: 0.22
-      resolution: 0.05
-      track_unknown_space: true
-      plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
-        enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
-        enabled: True
-        publish_voxel_map: True
-        origin_z: 0.0
-        z_resolution: 0.05
-        z_voxels: 16
-        max_obstacle_height: 2.0
-        mark_threshold: 0
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      static_layer:
-        plugin: "nav2_costmap_2d::StaticLayer"
-        map_subscribe_transient_local: True
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
-      always_send_full_costmap: True
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: False
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: False
-
-map_server:
-  ros__parameters:
-    use_sim_time: False
-    yaml_filename: "map.yaml"
-
-map_saver:
-  ros__parameters:
-    use_sim_time: False
-    save_map_timeout: 5.0
-    free_thresh_default: 0.25
-    occupied_thresh_default: 0.65
-    map_subscribe_transient_local: True
-
-planner_server:
-  ros__parameters:
-    expected_planner_frequency: 20.0
-    use_sim_time: False
-    planner_plugins: ["GridBased"]
-    GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
-      tolerance: 0.5
-      use_astar: false
-      allow_unknown: true
-
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-recoveries_server:
-  ros__parameters:
-    costmap_topic: local_costmap/costmap_raw
-    footprint_topic: local_costmap/published_footprint
-    cycle_frequency: 10.0
-    recovery_plugins: ["spin", "backup", "wait"]
-    spin:
-      plugin: "nav2_recoveries/Spin"
-    backup:
-      plugin: "nav2_recoveries/BackUp"
-    wait:
-      plugin: "nav2_recoveries/Wait"
-    global_frame: odom
-    robot_base_frame: base_link
-    transform_timeout: 0.1
-    use_sim_time: true
-    simulate_ahead_time: 2.0
-    max_rotational_vel: 1.0
-    min_rotational_vel: 0.4
-    rotational_acc_lim: 3.2
-
-robot_state_publisher:
-  ros__parameters:
-    use_sim_time: False
-
-waypoint_follower:
-  ros__parameters:
-    loop_rate: 200
-    stop_on_failure: false
-    waypoint_task_executor_plugin: "wait_at_waypoint"
-    wait_at_waypoint:
-      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
-      enabled: True
-      waypoint_pause_duration: 200
diff --git a/ff_examples_ros2/params/turtlebot3_world_waffle_pi.yaml b/ff_examples_ros2/params/turtlebot3_world_waffle_pi.yaml
deleted file mode 100644
index 4643a829..00000000
--- a/ff_examples_ros2/params/turtlebot3_world_waffle_pi.yaml
+++ /dev/null
@@ -1,355 +0,0 @@
-amcl:
-  ros__parameters:
-    use_sim_time: False
-    alpha1: 0.2
-    alpha2: 0.2
-    alpha3: 0.2
-    alpha4: 0.2
-    alpha5: 0.2
-    base_frame_id: "base_footprint"
-    beam_skip_distance: 0.5
-    beam_skip_error_threshold: 0.9
-    beam_skip_threshold: 0.3
-    do_beamskip: false
-    global_frame_id: "map"
-    lambda_short: 0.1
-    laser_likelihood_max_dist: 2.0
-    laser_max_range: 100.0
-    laser_min_range: -1.0
-    laser_model_type: "likelihood_field"
-    max_beams: 60
-    max_particles: 2000
-    min_particles: 500
-    odom_frame_id: "odom"
-    pf_err: 0.05
-    pf_z: 0.99
-    recovery_alpha_fast: 0.0
-    recovery_alpha_slow: 0.0
-    resample_interval: 1
-    robot_model_type: "nav2_amcl::DifferentialMotionModel"
-    save_pose_rate: 0.5
-    sigma_hit: 0.2
-    tf_broadcast: true
-    transform_tolerance: 1.0
-    update_min_a: 0.2
-    update_min_d: 0.25
-    z_hit: 0.5
-    z_max: 0.05
-    z_rand: 0.5
-    z_short: 0.05
-    set_initial_pose: true
-    initial_pose:
-      x: -1.8949996233
-      y: -0.419999837875
-      z: 0.0
-      a: -0.0208304
-
-amcl_map_client:
-  ros__parameters:
-    use_sim_time: False
-
-amcl_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-bt_navigator:
-  ros__parameters:
-    use_sim_time: False
-    global_frame: map
-    robot_base_frame: base_link
-    odom_topic: /odom
-    default_bt_xml_filename: "navigate_w_replanning_and_recovery.xml"
-    bt_loop_duration: 10
-    default_server_timeout: 20
-    enable_groot_monitoring: True
-    groot_zmq_publisher_port: 1666
-    groot_zmq_server_port: 1667
-    plugin_lib_names:
-    - nav2_compute_path_to_pose_action_bt_node
-    - nav2_compute_path_through_poses_action_bt_node
-    - nav2_follow_path_action_bt_node
-    - nav2_back_up_action_bt_node
-    - nav2_spin_action_bt_node
-    - nav2_wait_action_bt_node
-    - nav2_clear_costmap_service_bt_node
-    - nav2_is_stuck_condition_bt_node
-    - nav2_goal_reached_condition_bt_node
-    - nav2_goal_updated_condition_bt_node
-    - nav2_initial_pose_received_condition_bt_node
-    - nav2_reinitialize_global_localization_service_bt_node
-    - nav2_rate_controller_bt_node
-    - nav2_distance_controller_bt_node
-    - nav2_speed_controller_bt_node
-    - nav2_truncate_path_action_bt_node
-    - nav2_goal_updater_node_bt_node
-    - nav2_recovery_node_bt_node
-    - nav2_pipeline_sequence_bt_node
-    - nav2_round_robin_node_bt_node
-    - nav2_transform_available_condition_bt_node
-    - nav2_time_expired_condition_bt_node
-    - nav2_distance_traveled_condition_bt_node
-    - nav2_single_trigger_bt_node
-    - nav2_is_battery_low_condition_bt_node
-    - nav2_navigate_through_poses_action_bt_node
-    - nav2_navigate_to_pose_action_bt_node
-    - nav2_remove_passed_goals_action_bt_node
-    - nav2_planner_selector_bt_node
-    - nav2_controller_selector_bt_node
-    - nav2_goal_checker_selector_bt_node
-
-bt_navigator_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-controller_server:
-  ros__parameters:
-    use_sim_time: False
-    controller_frequency: 20.0
-    min_x_velocity_threshold: 0.001
-    min_y_velocity_threshold: 0.5
-    min_theta_velocity_threshold: 0.001
-    failure_tolerance: 0.3
-    progress_checker_plugin: "progress_checker"
-    goal_checker_plugins: ["general_goal_checker"]
-    controller_plugins: ["FollowPath"]
-
-    # Progress checker parameters
-    progress_checker:
-      plugin: "nav2_controller::SimpleProgressChecker"
-      required_movement_radius: 0.5
-      movement_time_allowance: 10.0
-
-    general_goal_checker:
-      stateful: True
-      plugin: "nav2_controller::SimpleGoalChecker"
-      xy_goal_tolerance: 0.25
-      yaw_goal_tolerance: 0.25
-
-    # DWB parameters
-    FollowPath:
-      plugin: "dwb_core::DWBLocalPlanner"
-      debug_trajectory_details: True
-      min_vel_x: 0.0
-      min_vel_y: 0.0
-      max_vel_x: 0.22
-      max_vel_y: 0.0
-      max_vel_theta: 1.0
-      min_speed_xy: 0.0
-      max_speed_xy: 0.22
-      min_speed_theta: 0.0
-      # Add high threshold velocity for turtlebot 3 issue.
-      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
-      acc_lim_x: 2.5
-      acc_lim_y: 0.0
-      acc_lim_theta: 3.2
-      decel_lim_x: -2.5
-      decel_lim_y: 0.0
-      decel_lim_theta: -3.2
-      vx_samples: 20
-      vy_samples: 5
-      vtheta_samples: 20
-      sim_time: 1.7
-      linear_granularity: 0.05
-      angular_granularity: 0.025
-      transform_tolerance: 0.2
-      xy_goal_tolerance: 0.25
-      trans_stopped_velocity: 0.25
-      short_circuit_trajectory_evaluation: True
-      stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
-      BaseObstacle.scale: 0.02
-      PathAlign.scale: 32.0
-      PathAlign.forward_point_distance: 0.1
-      GoalAlign.scale: 24.0
-      GoalAlign.forward_point_distance: 0.1
-      PathDist.scale: 32.0
-      GoalDist.scale: 24.0
-      RotateToGoal.scale: 32.0
-      RotateToGoal.slowing_factor: 5.0
-      RotateToGoal.lookahead_time: -1.0
-
-controller_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-local_costmap:
-  local_costmap:
-    ros__parameters:
-      update_frequency: 5.0
-      publish_frequency: 2.0
-      global_frame: odom
-      robot_base_frame: base_link
-      use_sim_time: False
-      rolling_window: true
-      width: 3
-      height: 3
-      resolution: 0.05
-      robot_radius: 0.22
-      plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"]
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 1.0
-        inflation_radius: 0.55
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
-        enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
-        enabled: True
-        publish_voxel_map: True
-        origin_z: 0.0
-        z_resolution: 0.05
-        z_voxels: 16
-        max_obstacle_height: 2.0
-        mark_threshold: 0
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      static_layer:
-        map_subscribe_transient_local: True
-      always_send_full_costmap: True
-  local_costmap_client:
-    ros__parameters:
-      use_sim_time: False
-  local_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: False
-
-global_costmap:
-  global_costmap:
-    ros__parameters:
-      update_frequency: 1.0
-      publish_frequency: 1.0
-      global_frame: map
-      robot_base_frame: base_link
-      use_sim_time: True
-      robot_radius: 0.22
-      resolution: 0.05
-      track_unknown_space: true
-      plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"]
-      obstacle_layer:
-        plugin: "nav2_costmap_2d::ObstacleLayer"
-        enabled: True
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
-        enabled: True
-        publish_voxel_map: True
-        origin_z: 0.0
-        z_resolution: 0.05
-        z_voxels: 16
-        max_obstacle_height: 2.0
-        mark_threshold: 0
-        observation_sources: scan
-        scan:
-          topic: /scan
-          max_obstacle_height: 2.0
-          clearing: True
-          marking: True
-          data_type: "LaserScan"
-          raytrace_max_range: 3.0
-          raytrace_min_range: 0.0
-          obstacle_max_range: 2.5
-          obstacle_min_range: 0.0
-      static_layer:
-        plugin: "nav2_costmap_2d::StaticLayer"
-        map_subscribe_transient_local: True
-      inflation_layer:
-        plugin: "nav2_costmap_2d::InflationLayer"
-        cost_scaling_factor: 3.0
-        inflation_radius: 0.55
-      always_send_full_costmap: True
-  global_costmap_client:
-    ros__parameters:
-      use_sim_time: False
-  global_costmap_rclcpp_node:
-    ros__parameters:
-      use_sim_time: False
-
-map_server:
-  ros__parameters:
-    use_sim_time: False
-    yaml_filename: "map.yaml"
-
-map_saver:
-  ros__parameters:
-    use_sim_time: False
-    save_map_timeout: 5.0
-    free_thresh_default: 0.25
-    occupied_thresh_default: 0.65
-    map_subscribe_transient_local: True
-
-planner_server:
-  ros__parameters:
-    expected_planner_frequency: 20.0
-    use_sim_time: False
-    planner_plugins: ["GridBased"]
-    GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
-      tolerance: 0.5
-      use_astar: false
-      allow_unknown: true
-
-planner_server_rclcpp_node:
-  ros__parameters:
-    use_sim_time: False
-
-recoveries_server:
-  ros__parameters:
-    costmap_topic: local_costmap/costmap_raw
-    footprint_topic: local_costmap/published_footprint
-    cycle_frequency: 10.0
-    recovery_plugins: ["spin", "backup", "wait"]
-    spin:
-      plugin: "nav2_recoveries/Spin"
-    backup:
-      plugin: "nav2_recoveries/BackUp"
-    wait:
-      plugin: "nav2_recoveries/Wait"
-    global_frame: odom
-    robot_base_frame: base_link
-    transform_timeout: 0.1
-    use_sim_time: true
-    simulate_ahead_time: 2.0
-    max_rotational_vel: 1.0
-    min_rotational_vel: 0.4
-    rotational_acc_lim: 3.2
-
-robot_state_publisher:
-  ros__parameters:
-    use_sim_time: False
-
-waypoint_follower:
-  ros__parameters:
-    loop_rate: 200
-    stop_on_failure: false
-    waypoint_task_executor_plugin: "wait_at_waypoint"
-    wait_at_waypoint:
-      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
-      enabled: True
-      waypoint_pause_duration: 200
diff --git a/ff_examples_ros2/scripts/send_destination_request.py b/ff_examples_ros2/scripts/send_destination_request.py
deleted file mode 100644
index d1ed3a30..00000000
--- a/ff_examples_ros2/scripts/send_destination_request.py
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright 2019 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import sys
-import argparse
-
-import rclpy
-from rclpy.node import Node
-
-from rmf_fleet_msgs.msg import Location
-from rmf_fleet_msgs.msg import DestinationRequest
-
-
-def main(argv = sys.argv):
-    '''
-    Example destination request:
-    - fleet_name: magni
-    - robot_name: magni123
-    - task_id: 6tyghb4edujrefyd
-    - x: 0.0
-    - y: 0.0
-    - yaw: 0.0
-    - level_name: B1
-    '''
-
-    default_fleet_name = 'fleet_name'
-    default_robot_name = 'robot_name'
-    default_task_id = '6tyghb4edujrefyd'
-    default_desired_x = 0.0
-    default_desired_y = 0.0
-    default_desired_yaw = 0.0
-    default_level_name = 'B1'
-    default_topic_name = 'robot_destination_requests'
-
-    parser = argparse.ArgumentParser()
-    parser.add_argument('-f', '--fleet-name', default=default_fleet_name)
-    parser.add_argument('-r', '--robot-name', default=default_robot_name)
-    parser.add_argument('-x', default=default_desired_x)
-    parser.add_argument('-y', default=default_desired_y)
-    parser.add_argument('--yaw', default=default_desired_yaw)
-    parser.add_argument('-l', '--level-name', default=default_level_name)
-    parser.add_argument('-i', '--task-id', default=default_task_id)
-    parser.add_argument('-t', '--topic-name', default=default_topic_name)
-    args = parser.parse_args(argv[1:])
-
-    print('fleet_name: {}'.format(args.fleet_name))
-    print('robot_name: {}'.format(args.robot_name))
-    print('x: {}'.format(args.x))
-    print('y: {}'.format(args.y))
-    print('yaw: {}'.format(args.yaw))
-    print('level_name: {}'.format(args.level_name))
-    print('task_id: {}'.format(args.task_id))
-    print('topic_name: {}'.format(args.topic_name))
-
-    rclpy.init()
-    node = rclpy.create_node('send_destination_request_node')
-    pub = node.create_publisher(DestinationRequest, args.topic_name, 10)
-
-    msg = DestinationRequest()
-    msg.fleet_name = args.fleet_name
-    msg.robot_name = args.robot_name
-    msg.task_id = args.task_id
-    # ignore time for now
-    msg.destination.x = float(args.x)
-    msg.destination.y = float(args.y)
-    msg.destination.yaw = float(args.yaw)
-    msg.destination.level_name = args.level_name
-
-    rclpy.spin_once(node, timeout_sec=1.0)
-    pub.publish(msg)
-    rclpy.spin_once(node, timeout_sec=0.5)
-    print('all done!')
-
-
-if __name__ == '__main__':
-    main(sys.argv)
diff --git a/ff_examples_ros2/scripts/send_mode_request.py b/ff_examples_ros2/scripts/send_mode_request.py
deleted file mode 100644
index 7a88d844..00000000
--- a/ff_examples_ros2/scripts/send_mode_request.py
+++ /dev/null
@@ -1,84 +0,0 @@
-#!/usr/bin/env python3
-
-# Copyright 2019 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import sys
-import argparse
-
-import rclpy
-from rclpy.node import Node
-
-from rmf_fleet_msgs.msg import RobotMode
-from rmf_fleet_msgs.msg import ModeRequest
-
-
-def main(argv = sys.argv):
-    '''
-    Example mode request:
-    - fleet_name: magni
-    - robot_name: magni123
-    - task_id: 576y13ewgyffeijuais
-    - mode.mode: PAUSED
-    '''
-
-    default_fleet_name = 'fleet_name'
-    default_robot_name = 'robot_name'
-    default_task_id = '576y13ewgyffeijuais'
-    default_mode = 'mode'
-    default_topic_name = 'robot_mode_requests'
-
-    parser = argparse.ArgumentParser()
-    parser.add_argument('-f', '--fleet-name', default=default_fleet_name)
-    parser.add_argument('-r', '--robot-name', default=default_robot_name)
-    parser.add_argument('-m', '--mode', default=default_mode)
-    parser.add_argument('-i', '--task-id', default=default_task_id)
-    parser.add_argument('-t', '--topic-name', default=default_topic_name)
-    args = parser.parse_args(argv[1:])
-
-    print('fleet_name: {}'.format(args.fleet_name))
-    print('robot_name: {}'.format(args.robot_name))
-    print('mode: {}'.format(args.mode))
-    print('task_id: {}'.format(args.task_id))
-    print('topic_name: {}'.format(args.topic_name))
-
-    rclpy.init()
-    node = rclpy.create_node('send_mode_request_node')
-    pub = node.create_publisher(ModeRequest, args.topic_name, 10)
-
-    msg = ModeRequest()
-    msg.fleet_name = args.fleet_name
-    msg.robot_name = args.robot_name
-    msg.task_id = args.task_id
-    
-    if args.mode == 'mode':
-        print('Please insert desired mode, pause or resume')
-        return
-    elif args.mode == 'pause':
-        msg.mode.mode = RobotMode.MODE_PAUSED
-    elif args.mode == 'resume':
-        msg.mode.mode = RobotMode.MODE_MOVING
-    else:
-        print('unrecognized mode requested, only use pause or resume please')
-        return
-  
-    rclpy.spin_once(node, timeout_sec=1.0)
-    pub.publish(msg)
-    rclpy.spin_once(node, timeout_sec=0.5)
-    print('all done!')
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main(sys.argv)
diff --git a/ff_examples_ros2/scripts/send_path_request.py b/ff_examples_ros2/scripts/send_path_request.py
deleted file mode 100644
index 893adbf8..00000000
--- a/ff_examples_ros2/scripts/send_path_request.py
+++ /dev/null
@@ -1,99 +0,0 @@
-#!/usr/bin/env python3
- 
-# Copyright 2019 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import sys
-import json
-import argparse
-
-import rclpy
-from rclpy.node import Node
-
-from rmf_fleet_msgs.msg import Location
-from rmf_fleet_msgs.msg import PathRequest
-
-
-def print_path(json_path_string):
-    path_dict = json.loads(json_path_string)
-    for waypoint in path_dict:
-        print('01 x: {} y: {} yaw: {} level_name: {}'.format(
-                waypoint['x'], waypoint['y'], waypoint['yaw'],
-                waypoint['level_name']))
-
-
-def get_path_message(json_path_string):
-    path_dict = json.loads(json_path_string)
-    path = []
-    for waypoint in path_dict:
-        new_wp = Location()
-        # ignore time for now
-        new_wp.x = float(waypoint['x'])
-        new_wp.y = float(waypoint['y'])
-        new_wp.yaw = float(waypoint['yaw'])
-        new_wp.level_name = waypoint['level_name']
-        path.append(new_wp)
-    return path
-
-
-def main(argv = sys.argv):
-    '''
-    Example path request:
-    - fleet_name: magni
-    - robot_name: magni123
-    - task_id: tfuhbjndsujewsduisd
-    - path: [
-        {"x": 0.0, "y": 0.0, "yaw": 0.0, "level_name": "B1"},
-        {"x": 1.0, "y": 1.0, "yaw": 1.0, "level_name": "B1"},
-        {"x": 2.0, "y": 2.0, "yaw": 2.0, "level_name": "B1"}]
-    '''
-
-    default_fleet_name = 'fleet_name'
-    default_robot_name = 'robot_name'
-    default_task_id = 'tfuhbjndsujewsduisd'
-    default_desired_path = '[]'
-    default_topic_name = 'robot_path_requests'
-
-    parser = argparse.ArgumentParser()
-    parser.add_argument('-f', '--fleet-name', default=default_fleet_name)
-    parser.add_argument('-r', '--robot-name', default=default_robot_name)
-    parser.add_argument('-i', '--task-id', default=default_task_id)
-    parser.add_argument('-p', '--path', default=default_desired_path)
-    parser.add_argument('-t', '--topic-name', default=default_topic_name)
-    args = parser.parse_args(argv[1:])
-
-    print('fleet_name: {}'.format(args.fleet_name))
-    print('robot_name: {}'.format(args.robot_name))
-    print('task_id: {}'.format(args.task_id))
-    print_path(args.path)
-    print('topic_name: {}'.format(args.topic_name))
-
-    rclpy.init()
-    node = rclpy.create_node('send_path_request_node')
-    pub = node.create_publisher(PathRequest, args.topic_name, 10)
-
-    msg = PathRequest()
-    msg.fleet_name = args.fleet_name
-    msg.robot_name = args.robot_name
-    msg.task_id = args.task_id
-    msg.path = get_path_message(args.path)
-
-    rclpy.spin_once(node, timeout_sec=2.0)
-    pub.publish(msg)
-    rclpy.spin_once(node, timeout_sec=0.5)
-    print('all done!')
-
-
-if __name__ == '__main__':
-    main(sys.argv)
diff --git a/ff_ros1.repos b/ff_ros1.repos
deleted file mode 100644
index 557b0f73..00000000
--- a/ff_ros1.repos
+++ /dev/null
@@ -1,9 +0,0 @@
-repositories:
-  free_fleet:
-    type: git
-    url: https://github.com/open-rmf/free_fleet.git
-    version: main
-  cyclonedds:
-    type: git
-    url: https://github.com/eclipse-cyclonedds/cyclonedds.git
-    version: releases/0.7.x
diff --git a/ff_ros2.repos b/ff_ros2.repos
deleted file mode 100644
index 83ce556f..00000000
--- a/ff_ros2.repos
+++ /dev/null
@@ -1,5 +0,0 @@
-repositories:
-  free_fleet:
-    type: git
-    url: https://github.com/open-rmf/free_fleet.git
-    version: main
diff --git a/ff_rviz_plugins_ros1/CHANGELOG.rst b/ff_rviz_plugins_ros1/CHANGELOG.rst
deleted file mode 100644
index 425fb5a4..00000000
--- a/ff_rviz_plugins_ros1/CHANGELOG.rst
+++ /dev/null
@@ -1,11 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package ff_rviz_plugins_ros1
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Forthcoming
------------
-
-1.0.0 (2020-06-11)
-------------------
-* Provides a basic ROS 1 rviz panel that users can send commands over to free fleet clients.
-* Contributors: Aaron Chong
diff --git a/ff_rviz_plugins_ros1/CMakeLists.txt b/ff_rviz_plugins_ros1/CMakeLists.txt
deleted file mode 100644
index 96f03b7a..00000000
--- a/ff_rviz_plugins_ros1/CMakeLists.txt
+++ /dev/null
@@ -1,72 +0,0 @@
-cmake_minimum_required(VERSION 3.5.0)
-
-project(ff_rviz_plugins_ros1)
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # we dont use add_compile_options with pedantic in message packages
-  # because the Python C extensions dont comply with it
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
-endif()
-
-include(GNUInstallDirs)
-
-#===============================================================================
-
-find_package(catkin QUIET COMPONENTS
-  roscpp
-  geometry_msgs
-  pluginlib
-  rviz
-)
-
-if (catkin_FOUND)
-
-  set(CMAKE_AUTOMOC ON)
-
-  find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
-  set(QT_LIBRARIES Qt5::Widgets)
-  set(QT_VERSION ${Qt5Widgets_VERSION})
-
-  find_package(free_fleet REQUIRED)
-
-  catkin_package()
-  
-  #=============================================================================
-
-  add_library(${PROJECT_NAME}
-    src/ff_nav_goal_panel.cpp
-    src/utilities.cpp
-  )
-  target_link_libraries(${PROJECT_NAME}
-    ${free_fleet_LIBRARIES}
-    ${catkin_LIBRARIES}
-    ${QT_LIBRARIES}
-  )
-  target_include_directories(${PROJECT_NAME}
-    PRIVATE
-      ${free_fleet_INCLUDE_DIRS}
-      ${catkin_INCLUDE_DIRS}
-  )
-
-  #=============================================================================
-
-  install(
-    TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
-
-  install(FILES
-    plugin_description.xml
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
-
-else()
-  message("catkin not found so skipping this ROS1 package")
-endif()
diff --git a/ff_rviz_plugins_ros1/package.xml b/ff_rviz_plugins_ros1/package.xml
deleted file mode 100644
index e69abbc2..00000000
--- a/ff_rviz_plugins_ros1/package.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>ff_rviz_plugins_ros1</name>
-  <version>1.3.0</version>
-  <description>A package containing rviz plugins that works with free fleet ROS1</description>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
-  <license>Apache 2.0</license>
-  <author email="aaron@openrobotics.org">Aaron Chong</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <depend>pluginlib</depend>
-  <depend>rviz</depend>
-  <depend>roscpp</depend>
-  <depend>geometry_msgs</depend>
-
-  <depend>free_fleet</depend>
-
-  <export>
-      <rviz plugin="${prefix}/plugin_description.xml"/>
-  </export>
-</package>
diff --git a/ff_rviz_plugins_ros1/plugin_description.xml b/ff_rviz_plugins_ros1/plugin_description.xml
deleted file mode 100644
index d8ec196d..00000000
--- a/ff_rviz_plugins_ros1/plugin_description.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<library path="/libff_rviz_plugins_ros1">
-  <class name="ff_rviz_plugins_ros1/FFNavToolPanel"
-      type="free_fleet::FFNavToolPanel"
-      base_class_type="rviz::Panel">
-    <description>
-      A panel widget that allows sending simple navigation commands.
-    </description>
-  </class>
-</library>
diff --git a/ff_rviz_plugins_ros1/src/ff_nav_goal_panel.cpp b/ff_rviz_plugins_ros1/src/ff_nav_goal_panel.cpp
deleted file mode 100644
index a7a0b5bb..00000000
--- a/ff_rviz_plugins_ros1/src/ff_nav_goal_panel.cpp
+++ /dev/null
@@ -1,200 +0,0 @@
-/*
- * Copyright (C) 2020 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <string>
-
-#include <QLabel>
-#include <QSizePolicy>
-#include <QGridLayout>
-#include <QHBoxLayout>
-#include <QVBoxLayout>
-#include <QPushButton>
-
-#include <rviz/load_resource.h>
-#include <rviz/render_panel.h>
-#include <rviz/visualization_manager.h>
-
-#include <free_fleet/ServerConfig.hpp>
-#include <free_fleet/messages/Location.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-#include <free_fleet/messages/RobotState.hpp>
-
-#include "ff_nav_goal_panel.hpp"
-#include "utilities.hpp"
-
-namespace free_fleet {
-
-//==============================================================================
-
-FFNavToolPanel::FFNavToolPanel(QWidget* parent)
-: rviz::Panel(parent)
-{
-  create_robot_group_box();
-  create_nav_group_box();
-  create_debug_group_box();
-
-  QGridLayout* layout = new QGridLayout;
-  layout->addWidget(_robot_group_box, 0, 0, 1, 1);
-  layout->addWidget(_nav_group_box, 1, 0, 6, 1);
-  layout->addWidget(_debug_group_box, 7, 0, 1, 1);
-  setLayout(layout);
-
-  connect(_send_nav_goal_button, &QPushButton::clicked, this,
-      &FFNavToolPanel::send_nav_goal);
-
-  ServerConfig default_server_conf;
-  _free_fleet_server = Server::make(default_server_conf);
-  if (!_free_fleet_server)
-  {
-    _debug_label->setText("Free Fleet server unable to start...");
-    return;
-  }
-
-  _nav_goal_sub = _nh.subscribe(
-      "/move_base_simple/goal", 2, &FFNavToolPanel::update_goal, this);
-}
-
-//==============================================================================
-
-void FFNavToolPanel::send_nav_goal()
-{
-  std::string fleet_name = _fleet_name_edit->text().toStdString();
-  std::string robot_name = _robot_name_edit->text().toStdString();
-
-  messages::Location nav_goal_location;
-  messages::DestinationRequest destination_request;
-
-  {
-    std::unique_lock<std::mutex> nav_goal_lock(_nav_goal_mutex);
-    nav_goal_location = {
-      static_cast<int32_t>(_nav_goal.header.stamp.sec),
-      _nav_goal.header.stamp.nsec,
-      static_cast<float>(_nav_goal.pose.position.x),
-      static_cast<float>(_nav_goal.pose.position.y),
-      static_cast<float>(get_yaw_from_quat(_nav_goal.pose.orientation)),
-      ""
-    };
-    destination_request = {
-      std::move(fleet_name),
-      std::move(robot_name),
-      std::move(nav_goal_location),
-      generate_random_task_id(20)
-    };
-  }
-
-  if (!_free_fleet_server->send_destination_request(destination_request))
-  {
-    std::string debug_str = "Failed to send navigation request...";
-    _debug_label->setText(QString::fromStdString(debug_str));
-    return;
-  }
-}
-
-//==============================================================================
-
-void FFNavToolPanel::create_robot_group_box()
-{
-  _robot_group_box = new QGroupBox("Robot Selection");
-  QGridLayout* layout = new QGridLayout;
-
-  _fleet_name_edit = new QLineEdit;
-  _fleet_name_edit->setPlaceholderText("enter fleet name here");
-
-  _robot_name_edit = new QLineEdit;
-  _robot_name_edit->setPlaceholderText("enter robot name here");
-
-  layout->addWidget(new QLabel("Fleet:"), 0, 0, 1, 1);
-  layout->addWidget(_fleet_name_edit, 0, 1, 1, 2);
-  layout->addWidget(new QLabel("Robot:"), 1, 0, 1, 1);
-  layout->addWidget(_robot_name_edit, 1, 1, 1, 2);
-  _robot_group_box->setLayout(layout);
-}
-
-//==============================================================================
-
-void FFNavToolPanel::create_nav_group_box()
-{
-  _nav_group_box = new QGroupBox("Navigation");
-  QGridLayout* layout = new QGridLayout;
-
-  _nav_goal_edit = new QTextEdit;
-  _nav_goal_edit->setReadOnly(true);
-  _nav_goal_edit->setPlainText(nav_goal_to_qstring(_nav_goal));
-
-  _send_nav_goal_button = new QPushButton("Send Nav Goal");
-
-  QSizePolicy size_policy(QSizePolicy::Minimum, QSizePolicy::Minimum);
-  size_policy.setHorizontalStretch(0);
-  size_policy.setVerticalStretch(0);
-  size_policy.setHeightForWidth(
-      _send_nav_goal_button->sizePolicy().hasHeightForWidth());
-  _send_nav_goal_button->setSizePolicy(size_policy);
-
-  layout->addWidget(_nav_goal_edit, 0, 0, 6, 3);
-  layout->addWidget(_send_nav_goal_button, 0, 3, 6, 1);
-
-  _nav_group_box->setLayout(layout);
-}
-
-//==============================================================================
-
-void FFNavToolPanel::create_debug_group_box()
-{
-  _debug_group_box = new QGroupBox("Debug");
-  QHBoxLayout* layout = new QHBoxLayout;
-
-  _debug_label = new QLabel("Panel started...");
-  layout->addWidget(_debug_label);
-
-  _debug_group_box->setLayout(layout);
-}
-
-//==============================================================================
-
-void FFNavToolPanel::update_goal(
-    const geometry_msgs::PoseStampedConstPtr& msg)
-{
-  std::unique_lock<std::mutex> nav_goal_lock(_nav_goal_mutex);
-  _nav_goal = *msg;
-  _nav_goal_edit->setPlainText(nav_goal_to_qstring(_nav_goal));
-}
-
-//==============================================================================
-
-QString FFNavToolPanel::nav_goal_to_qstring(
-    const geometry_msgs::PoseStamped& msg) const
-{
-  std::ostringstream ss;
-  ss <<
-      "Position:" <<
-      "\n    x: " << std::to_string(msg.pose.position.x) <<
-      "\n    y: " << std::to_string(msg.pose.position.y) <<
-      "\n    z: " << std::to_string(msg.pose.position.z) <<
-      "\nOrientation:" <<
-      "\n    x: " << std::to_string(msg.pose.orientation.x) <<
-      "\n    y: " << std::to_string(msg.pose.orientation.y) <<
-      "\n    z: " << std::to_string(msg.pose.orientation.z) <<
-      "\n    w: " << std::to_string(msg.pose.orientation.w) << std::endl;
-  return QString::fromStdString(ss.str());
-}
-
-//==============================================================================
-
-} // namespace free_fleet
-
-#include <pluginlib/class_list_macros.hpp>
-PLUGINLIB_EXPORT_CLASS(free_fleet::FFNavToolPanel, rviz::Panel)
diff --git a/ff_rviz_plugins_ros1/src/ff_nav_goal_panel.hpp b/ff_rviz_plugins_ros1/src/ff_nav_goal_panel.hpp
deleted file mode 100644
index d233f907..00000000
--- a/ff_rviz_plugins_ros1/src/ff_nav_goal_panel.hpp
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- * Copyright (C) 2020 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FF_RVIZ_PLUGINS_ROS1__SRC__FF_NAV_GOAL_PANEL__HPP
-#define FF_RVIZ_PLUGINS_ROS1__SRC__FF_NAV_GOAL_PANEL__HPP
-
-#include <mutex>
-
-#include <QString>
-#include <QLineEdit>
-#include <QTextEdit>
-#include <QGroupBox>
-
-#include <rviz/panel.h>
-
-#include <ros/ros.h>
-#include <geometry_msgs/PoseStamped.h>
-
-#include <free_fleet/Server.hpp>
-
-namespace free_fleet {
-
-class FFNavToolPanel : public rviz::Panel
-{
-
-public:
-
-  FFNavToolPanel(QWidget* parent = 0);
-
-private Q_SLOTS:
-
-  void send_nav_goal();
-
-protected:
-
-private:
-
-  void create_robot_group_box();
-  void create_nav_group_box();
-  void create_debug_group_box();
-
-  QGroupBox* _robot_group_box;
-  QGroupBox* _nav_group_box;
-  QGroupBox* _debug_group_box;
-
-  QLineEdit* _fleet_name_edit;
-  QLineEdit* _robot_name_edit;
-  QTextEdit* _nav_goal_edit;
-  QLabel* _debug_label;
-
-  QPushButton* _send_nav_goal_button;
-
-  Server::SharedPtr _free_fleet_server;
-
-  ros::NodeHandle _nh;
-  ros::Subscriber _nav_goal_sub;
-
-  std::mutex _nav_goal_mutex;
-  geometry_msgs::PoseStamped _nav_goal;
-
-  void update_goal(const geometry_msgs::PoseStamped::ConstPtr& msg);
-
-  QString nav_goal_to_qstring(const geometry_msgs::PoseStamped& msg) const;
-};
-
-} // namespace free_fleet
-
-#endif // FF_RVIZ_PLUGINS_ROS1__SRC__FF_NAV_GOAL_PANEL__HPP
diff --git a/ff_rviz_plugins_ros1/src/utilities.cpp b/ff_rviz_plugins_ros1/src/utilities.cpp
deleted file mode 100644
index a1a1b841..00000000
--- a/ff_rviz_plugins_ros1/src/utilities.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * Copyright (C) 2020 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <cstdlib>
-
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-
-#include "utilities.hpp"
-
-namespace free_fleet {
-
-double get_yaw_from_quat(const geometry_msgs::Quaternion& _quat)
-{
-  tf2::Quaternion tf2_quat;
-  tf2::fromMsg(_quat, tf2_quat);
-  tf2::Matrix3x3 tf2_mat(tf2_quat);
-  
-  // ignores pitch and roll, but the api call is so nice though
-  double yaw;
-  double pitch;
-  double roll;
-  tf2_mat.getEulerYPR(yaw, pitch, roll);
-  return yaw;
-}
-
-std::string generate_random_task_id(size_t length)
-{
-  auto randchar = []() -> char
-  {
-      const char charset[] =
-      "0123456789"
-      "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-      "abcdefghijklmnopqrstuvwxyz";
-      const size_t max_index = (sizeof(charset) - 1);
-      return charset[ rand() % max_index ];
-  };
-  std::string str(length,0);
-  std::generate_n( str.begin(), length, randchar );
-  return str;
-}
-
-} // namespace free_fleet
diff --git a/ff_rviz_plugins_ros1/src/utilities.hpp b/ff_rviz_plugins_ros1/src/utilities.hpp
deleted file mode 100644
index 184cfebb..00000000
--- a/ff_rviz_plugins_ros1/src/utilities.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * Copyright (C) 2020 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FF_RVIZ_PLUGINS_ROS1__SRC__UTILITIES_HPP
-#define FF_RVIZ_PLUGINS_ROS1__SRC__UTILITIES_HPP
-
-#include <geometry_msgs/Quaternion.h>
-
-namespace free_fleet {
-
-double get_yaw_from_quat(const geometry_msgs::Quaternion& quat);
-
-std::string generate_random_task_id(size_t length);
-
-} // namespace free_fleet
-
-#endif // FF_RVIZ_PLUGINS_ROS1__SRC__UTILITIES_HPP
diff --git a/free_fleet/CHANGELOG.rst b/free_fleet/CHANGELOG.rst
deleted file mode 100644
index e2cc0379..00000000
--- a/free_fleet/CHANGELOG.rst
+++ /dev/null
@@ -1,11 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package free_fleet
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Forthcoming
------------
-
-1.0.0 (2020-06-11)
-------------------
-* Contains the main implementation of free fleet client and servers, includes API allowing both ROS 1 and ROS 2 implementations/wrappers to either run on robots or as servers. Client and server implementations use CycloneDDS to communicate with each other.
-* Contributors: Aaron Chong
diff --git a/free_fleet/CMakeLists.txt b/free_fleet/CMakeLists.txt
deleted file mode 100644
index 97a3b09f..00000000
--- a/free_fleet/CMakeLists.txt
+++ /dev/null
@@ -1,122 +0,0 @@
-cmake_minimum_required(VERSION 3.5.0)
-project(free_fleet VERSION 0.0.1 LANGUAGES C CXX)
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-# if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-#   add_compile_options(-Wall -Wextra -Wpedantic)
-# endif()
-
-include(GNUInstallDirs)
-
-find_package(CycloneDDS REQUIRED)
-
-# -----------------------------------------------------------------------------
-
-add_library(free_fleet SHARED
-  src/Client.cpp
-  src/ClientImpl.cpp
-  src/configs/ClientConfig.cpp
-  src/Server.cpp
-  src/ServerImpl.cpp
-  src/configs/ServerConfig.cpp
-  src/messages/FleetMessages.c
-  src/messages/message_utils.cpp
-  src/dds_utils/common.cpp
-)
-target_include_directories(free_fleet
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-)
-target_link_libraries(free_fleet
-  CycloneDDS::ddsc
-  ssl
-  crypto
-)
-
-# -----------------------------------------------------------------------------
-
-set(testing_targets
-  test_dds_pub_destination_request
-  test_dds_pub_mode_request
-  test_dds_pub_path_request
-  test_dds_pub_sim_path_request
-  test_dds_sub_state
-)
-
-foreach(target ${testing_targets})
-  add_executable(${target}
-    src/tests/${target}.cpp
-    src/dds_utils/common.cpp
-    src/messages/FleetMessages.c
-  )
-  target_link_libraries(${target}
-    CycloneDDS::ddsc
-    ssl
-    crypto
-  )
-endforeach()
-
-install(
-  TARGETS ${testing_targets}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
-  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-)
-
-# -----------------------------------------------------------------------------
-
-# Mark executables and/or libraries for installation
-list(APPEND PACKAGE_LIBRARIES
-  free_fleet
-)
-install(
-  TARGETS ${PACKAGE_LIBRARIES}
-  EXPORT free_fleet-targets
-  DESTINATION lib
-)
-install(
-  EXPORT free_fleet-targets 
-  DESTINATION lib/cmake/free_fleet
-)
-
-# Mark cpp header files for installation
-install(
-  DIRECTORY include/free_fleet
-  DESTINATION include
-  FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" PATTERN "*.hxx"
-  PATTERN ".svn" EXCLUDE
-)
-install(
-  FILES package.xml 
-  DESTINATION share/free_fleet
-)
-
-# Create cmake config files
-# See doc: https://cmake.org/cmake/help/latest/module/CMakePackageConfigHelpers.html#example-generating-package-files
-include(CMakePackageConfigHelpers)
-configure_package_config_file(
-  ${CMAKE_CURRENT_LIST_DIR}/cmake/free_fleet-config.cmake.in
-  ${CMAKE_CURRENT_BINARY_DIR}/free_fleet-config.cmake
-  INSTALL_DESTINATION lib/cmake/free_fleet
-  NO_CHECK_REQUIRED_COMPONENTS_MACRO
-)
-write_basic_package_version_file(
-  ${CMAKE_CURRENT_BINARY_DIR}/free_fleet-config-version.cmake
-  VERSION ${PROJECT_VERSION} COMPATIBILITY ExactVersion
-)
-
-install(
-  FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/free_fleet-config.cmake
-    ${CMAKE_CURRENT_BINARY_DIR}/free_fleet-config-version.cmake
-  DESTINATION lib/cmake/free_fleet
-)
-export(
-  EXPORT free_fleet-targets
-  FILE ${CMAKE_CURRENT_BINARY_DIR}/free_fleet-targets.cmake
-)
diff --git a/free_fleet/cmake/free_fleet-config.cmake.in b/free_fleet/cmake/free_fleet-config.cmake.in
deleted file mode 100644
index e1d5dfd8..00000000
--- a/free_fleet/cmake/free_fleet-config.cmake.in
+++ /dev/null
@@ -1,11 +0,0 @@
-@PACKAGE_INIT@
-
-include(CMakeFindDependencyMacro)
-find_dependency(CycloneDDS)
-
-set(@PROJECT_NAME@_FOUND ON)
-set_and_check(@PROJECT_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/include")
-set_and_check(@PROJECT_NAME@_LIBRARY_DIRS "${PACKAGE_PREFIX_DIR}/lib")
-set(@PROJECT_NAME@_LIBRARIES "@PACKAGE_LIBRARIES@")
-
-include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")
diff --git a/free_fleet/free_fleet/__init__.py b/free_fleet/free_fleet/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet/free_fleet/convert.py b/free_fleet/free_fleet/convert.py
new file mode 100644
index 00000000..61fa3906
--- /dev/null
+++ b/free_fleet/free_fleet/convert.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from builtin_interfaces.msg import Time as RclTimeMsg
+from free_fleet.ros1_types import (
+    Time as Ros1Time,
+    TransformStamped as Ros1TransformStamped
+)
+from free_fleet.ros2_types import (
+    GeometryMsgs_TransformStamped as Ros2TransformStamped,
+    Time as Ros2Time
+)
+from geometry_msgs.msg import TransformStamped
+from rclpy import time as rclpyTime
+
+
+def transform_time_to_ros2_msg(
+    msg: Ros1Time.msg_type | Ros2Time
+) -> RclTimeMsg:
+    time = rclpyTime.Time(
+        seconds=msg.sec,
+        nanoseconds=msg.nanosec
+    )
+    return time.to_msg()
+
+
+def transform_stamped_to_ros2_msg(
+    msg: Ros1TransformStamped.msg_type | Ros2TransformStamped
+) -> TransformStamped:
+    t = TransformStamped()
+    t.header.stamp = transform_time_to_ros2_msg(msg.header.stamp)
+    t.header.frame_id = msg.header.frame_id
+    t.child_frame_id = msg.child_frame_id
+    t.transform.translation.x = msg.transform.translation.x
+    t.transform.translation.y = msg.transform.translation.y
+    t.transform.translation.z = msg.transform.translation.z
+    t.transform.rotation.x = msg.transform.rotation.x
+    t.transform.rotation.y = msg.transform.rotation.y
+    t.transform.rotation.z = msg.transform.rotation.z
+    t.transform.rotation.w = msg.transform.rotation.w
+    return t
diff --git a/free_fleet/free_fleet/ros1_types.py b/free_fleet/free_fleet/ros1_types.py
new file mode 100644
index 00000000..166f0086
--- /dev/null
+++ b/free_fleet/free_fleet/ros1_types.py
@@ -0,0 +1,99 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rosbags.typesys import get_types_from_msg, get_typestore, Stores
+
+
+ROS1_STORE = get_typestore(Stores.ROS1_NOETIC)
+
+
+# https://github.com/ros/geometry2/blob/noetic-devel/tf2_msgs/msg/TFMessage.msg
+TFMessage_Definition = """
+geometry_msgs/TransformStamped[] transforms
+"""
+ROS1_STORE.register(
+    get_types_from_msg(TFMessage_Definition, 'tf2_msgs/msg/TFMessage')
+)
+
+
+class TFMessage:
+    type_name = 'tf2_msgs/msg/TFMessage'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class Transform:
+    type_name = 'geometry_msgs/msg/Transform'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class TransformStamped:
+    type_name = 'geometry_msgs/msg/TransformStamped'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class Vector3:
+    type_name = 'geometry_msgs/msg/Vector3'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class Time:
+    type_name = 'builtin_interfaces/msg/Time'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class Header:
+    type_name = 'std_msgs/msg/Header'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class Pose:
+    type_name = 'geometry_msgs/msg/Pose'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class Point:
+    type_name = 'geometry_msgs/msg/Point'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class Quaternion:
+    type_name = 'geometry_msgs/msg/Quaternion'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class PoseStamped:
+    type_name = 'geometry_msgs/msg/PoseStamped'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class GoalID:
+    type_name = 'actionlib_msgs/msg/GoalID'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class GoalStatus:
+    type_name = 'actionlib_msgs/msg/GoalStatus'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class GoalStatusArray:
+    type_name = 'actionlib_msgs/msg/GoalStatusArray'
+    msg_type = ROS1_STORE.types[type_name]
+
+
+class BatteryState:
+    type_name = 'sensor_msgs/msg/BatteryState'
+    msg_type = ROS1_STORE.types[type_name]
diff --git a/free_fleet/free_fleet/ros2_types.py b/free_fleet/free_fleet/ros2_types.py
new file mode 100644
index 00000000..7d169cce
--- /dev/null
+++ b/free_fleet/free_fleet/ros2_types.py
@@ -0,0 +1,199 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from dataclasses import dataclass
+from enum import Enum
+
+import pycdr2
+from pycdr2 import IdlStruct
+
+
+# https://github.com/ros2/rcl_interfaces/blob/rolling/builtin_interfaces/msg/Time.msg
+@dataclass
+class Time(IdlStruct):
+    sec: pycdr2.types.int32
+    nanosec: pycdr2.types.uint32
+
+
+# https://github.com/ros2/rcl_interfaces/blob/rolling/builtin_interfaces/msg/Duration.msg
+@dataclass
+class Duration(IdlStruct):
+    sec: pycdr2.types.int32
+    nanosec: pycdr2.types.uint32
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/std_msgs/msg/Header.msg
+@dataclass
+class Header(IdlStruct):
+    stamp: Time
+    frame_id: str
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/Point.msg
+@dataclass
+class GeometryMsgs_Point(IdlStruct):
+    x: pycdr2.types.float64
+    y: pycdr2.types.float64
+    z: pycdr2.types.float64
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/Quaternion.msg
+@dataclass
+class GeometryMsgs_Quaternion(IdlStruct):
+    x: pycdr2.types.float64 = 0
+    y: pycdr2.types.float64 = 0
+    z: pycdr2.types.float64 = 0
+    w: pycdr2.types.float64 = 1
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/Pose.msg
+@dataclass
+class GeometryMsgs_Pose(IdlStruct):
+    position: GeometryMsgs_Point
+    orientation: GeometryMsgs_Quaternion
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseStamped.msg
+@dataclass
+class GeometryMsgs_PoseStamped(IdlStruct):
+    header: Header
+    pose: GeometryMsgs_Pose
+
+
+# https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/action/NavigateToPose.action
+@dataclass
+class NavigateToPose_SendGoal_Request(IdlStruct):
+    goal_id: pycdr2.types.array[pycdr2.types.uint8, 16]
+    pose: GeometryMsgs_PoseStamped
+    behavior_tree: str
+
+
+# https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/action/NavigateToPose.action
+@dataclass
+class NavigateToPose_SendGoal_Response(IdlStruct):
+    accepted: bool
+    stamp: Time
+
+
+# https://design.ros2.org/articles/actions.html#get-result-service
+@dataclass
+class NavigateToPose_GetResult_Request(IdlStruct):
+    goal_id: pycdr2.types.array[pycdr2.types.uint8, 16]
+
+
+# https://github.com/ros2/rcl/blob/rolling/rcl_action/include/rcl_action/types.h
+class GoalStatus(Enum):
+    STATUS_UNKNOWN: pycdr2.types.int8 = 0
+    STATUS_ACCEPTED: pycdr2.types.int8 = 1
+    STATUS_EXECUTING: pycdr2.types.int8 = 2
+    STATUS_CANCELING: pycdr2.types.int8 = 3
+    STATUS_SUCCEEDED: pycdr2.types.int8 = 4
+    STATUS_CANCELED: pycdr2.types.int8 = 5
+    STATUS_ABORTED: pycdr2.types.int8 = 6
+
+
+# https://design.ros2.org/articles/actions.html#get-result-service
+# https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/action/NavigateToPose.action
+@dataclass
+class NavigateToPose_GetResult_Response(IdlStruct):
+    status: pycdr2.types.int8
+
+
+# https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/action/NavigateToPose.action
+@dataclass
+class NavigateToPose_Feedback(IdlStruct):
+    goal_id: pycdr2.types.array[pycdr2.types.uint8, 16]
+    current_pose: GeometryMsgs_PoseStamped
+    navigation_time: Duration
+    estimated_time_remaining: Duration
+    number_of_recoveries: pycdr2.types.int16
+    distance_remaining: pycdr2.types.float32
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/Vector3.msg
+@dataclass
+class GeometryMsgs_Vector3(IdlStruct):
+    x: pycdr2.types.float64
+    y: pycdr2.types.float64
+    z: pycdr2.types.float64
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/Transform.msg
+@dataclass
+class GeometryMsgs_Transform(IdlStruct):
+    translation: GeometryMsgs_Vector3
+    rotation: GeometryMsgs_Quaternion
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TransformStamped.msg
+@dataclass
+class GeometryMsgs_TransformStamped(IdlStruct):
+    header: Header
+    child_frame_id: str
+    transform: GeometryMsgs_Transform
+
+
+# https://github.com/ros2/geometry2/blob/rolling/tf2_msgs/msg/TFMessage.msg
+@dataclass
+class TFMessage(IdlStruct):
+    transforms: pycdr2.types.sequence[GeometryMsgs_TransformStamped]
+
+
+# https://github.com/ros2/unique_identifier_msgs/blob/rolling/msg/UUID.msg
+@dataclass
+class UUID(IdlStruct):
+    uuid: pycdr2.types.array[pycdr2.types.uint8, 16]
+
+
+# https://github.com/ros2/rcl_interfaces/blob/rolling/action_msgs/msg/GoalInfo.msg
+@dataclass
+class ActionMsgs_GoalInfo(IdlStruct):
+    goal_id: UUID
+    stamp: Time
+
+
+# https://github.com/ros2/rcl_interfaces/blob/rolling/action_msgs/srv/CancelGoal.srv
+@dataclass
+class ActionMsgs_CancelGoal_Request(IdlStruct):
+    goal_info: ActionMsgs_GoalInfo
+
+
+# https://github.com/ros2/rcl_interfaces/blob/rolling/action_msgs/srv/CancelGoal.srv
+@dataclass
+class ActionMsgs_CancelGoal_Response(IdlStruct):
+    return_code: pycdr2.types.int8
+    goals_canceling: pycdr2.types.sequence[ActionMsgs_GoalInfo]
+
+
+# https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/BatteryState.msg
+@dataclass
+class SensorMsgs_BatteryState(IdlStruct):
+    header: Header
+    voltage: pycdr2.types.float32
+    temperature: pycdr2.types.float32
+    current: pycdr2.types.float32
+    charge: pycdr2.types.float32
+    capacity: pycdr2.types.float32
+    design_capacity: pycdr2.types.float32
+    percentage: pycdr2.types.float32
+    power_supply_status: pycdr2.types.uint8
+    power_supply_health: pycdr2.types.uint8
+    power_supply_technology: pycdr2.types.uint8
+    present: bool
+    cell_voltage: pycdr2.types.sequence[pycdr2.types.float32]
+    cell_temperature: pycdr2.types.sequence[pycdr2.types.float32]
+    location: str
+    serial_number: str
diff --git a/free_fleet/free_fleet/utils.py b/free_fleet/free_fleet/utils.py
new file mode 100644
index 00000000..c3e83ffd
--- /dev/null
+++ b/free_fleet/free_fleet/utils.py
@@ -0,0 +1,63 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from free_fleet.ros2_types import (
+    ActionMsgs_CancelGoal_Request,
+    ActionMsgs_GoalInfo,
+    Time,
+    UUID
+)
+
+
+def namespacify(base_name: str, namespace: str, delimiter: str = '/') -> str:
+    """
+    Namespaces a base_name with namespace and delimiter.
+
+    If no namespace is provided, returns the base_name. Otherwise, naively
+    prefixes the base_name with namespace and delimiter, returning the result.
+    """
+    return base_name if not namespace else f'{namespace}{delimiter}{base_name}'
+
+
+def make_nav2_cancel_all_goals_request() -> ActionMsgs_CancelGoal_Request:
+    """
+    Return a Nav2 CancelGoal request targeting all ongoing goals.
+
+    According to action_msgs/srv/CancelGoal.srv, if goal ID is zero and
+    timestamp is zero, cancel all goals.
+    """
+    return ActionMsgs_CancelGoal_Request(
+        goal_info=ActionMsgs_GoalInfo(
+            UUID(uuid=[0 for i in range(16)]),
+            Time(sec=0, nanosec=0)
+        )
+    )
+
+
+# https://github.com/eclipse-zenoh/zenoh-plugin-ros1/issues/131
+def get_zenoh_name_of_ros1_topic(
+    ros1_store,
+    topic: str,
+    msg_type: str
+) -> str:
+    # Get md5 and encode msg_type to construct zenoh topic
+    msg_type_split = msg_type.split('/')
+    msg_type_encoded = \
+        '/'.join([msg_type_split[0], msg_type_split[2]]).encode('utf-8').hex()
+    md5 = ros1_store.generate_msgdef(msg_type)[1]
+    zenoh_topic = '/'.join([msg_type_encoded, md5, topic[1:]])
+
+    return zenoh_topic
diff --git a/free_fleet/include/free_fleet/Client.hpp b/free_fleet/include/free_fleet/Client.hpp
deleted file mode 100644
index 3c2190ea..00000000
--- a/free_fleet/include/free_fleet/Client.hpp
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__CLIENT_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__CLIENT_HPP
-
-#include <memory>
-
-#include <free_fleet/ClientConfig.hpp>
-
-#include <free_fleet/messages/RobotState.hpp>
-#include <free_fleet/messages/ModeRequest.hpp>
-#include <free_fleet/messages/PathRequest.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-
-namespace free_fleet {
-
-class Client
-{
-public:
-
-  using SharedPtr = std::shared_ptr<Client>;
-
-  /// Factory function that creates an instance of the Free Fleet DDS Client.
-  ///
-  /// \param[in] config
-  ///   Configuration that sets up the client to communicate with the server.
-  /// \return
-  ///   Shared pointer to a free fleet client.
-  static SharedPtr make(const ClientConfig& config);
-
-  /// Attempts to send a new robot state to the free fleet server, to be 
-  /// registered by the fleet management system.
-  ///
-  /// \param[in] new_robot_state
-  ///   Current robot state to be sent to the free fleet server to update the
-  ///   fleet management system.
-  /// \return
-  ///   True if robot state was successfully sent, false otherwise.
-  bool send_robot_state(const messages::RobotState& new_robot_state);
-
-  /// Attempts to read and receive a new mode request from the free fleet
-  /// server, for commanding the robot client.
-  ///
-  /// \param[out] mode_request
-  ///   Newly received robot mode request from the free fleet server, to be
-  ///   handled by the robot client.
-  /// \return
-  ///   True if a new mode request was received, false otherwise.
-  bool read_mode_request(messages::ModeRequest& mode_request);
-
-  /// Attempts to read and receive a new path request from the free fleet
-  /// server, for commanding the robot client.
-  ///
-  /// \param[out] path_request
-  ///   Newly received robot path request from the free fleet server, to be
-  ///   handled by the robot client.
-  /// \return
-  ///   True if a new path request was received, false otherwise.
-  bool read_path_request(messages::PathRequest& path_request);
-
-  /// Attempts to read and receive a new destination request from the free
-  /// fleet server, for commanding the robot client.
-  /// 
-  /// \param[out] destination_request
-  ///   Newly received robot destination request from the free fleet server,
-  ///   to be handled by the robot client.
-  /// \return
-  ///   True if a new destination request was received, false otherwise.
-  bool read_destination_request(
-      messages::DestinationRequest& destination_request);
-
-  /// Destructor
-  ~Client();
-
-private:
-
-  /// Forward declaration and unique implementation
-  class ClientImpl;
-
-  std::unique_ptr<ClientImpl> impl;
-
-  Client(const ClientConfig& config);
-
-};
-
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__CLIENT_HPP
diff --git a/free_fleet/include/free_fleet/ClientConfig.hpp b/free_fleet/include/free_fleet/ClientConfig.hpp
deleted file mode 100644
index 7b04ab54..00000000
--- a/free_fleet/include/free_fleet/ClientConfig.hpp
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__CLIENTCONFIG_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__CLIENTCONFIG_HPP
-
-#include <string>
-
-namespace free_fleet {
-
-struct ClientConfig
-{
-  int dds_domain = 42;
-  std::string dds_state_topic = "robot_state";
-  std::string dds_mode_request_topic = "mode_request";
-  std::string dds_path_request_topic = "path_request";
-  std::string dds_destination_request_topic = "destination_request";
-
-  void print_config() const;
-};
-
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__CLIENTCONFIG_HPP
diff --git a/free_fleet/include/free_fleet/Server.hpp b/free_fleet/include/free_fleet/Server.hpp
deleted file mode 100644
index 9e074c58..00000000
--- a/free_fleet/include/free_fleet/Server.hpp
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__SERVER_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__SERVER_HPP
-
-#include <memory>
-#include <vector>
-
-#include <free_fleet/ServerConfig.hpp>
-
-#include <free_fleet/messages/RobotState.hpp>
-#include <free_fleet/messages/ModeRequest.hpp>
-#include <free_fleet/messages/PathRequest.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-
-namespace free_fleet {
-
-class Server
-{
-public:
-
-  using SharedPtr = std::shared_ptr<Server>;
-
-  /// Factory function that creates an instance of the Free Fleet Server.
-  ///
-  /// \param[in] config
-  ///   Configuration that sets up the server to communicate with the clients.
-  /// \return
-  ///   Shared pointer to a free fleet server.
-  static SharedPtr make(const ServerConfig& config);
-
-  /// Attempts to read new incoming robot states sent by free fleet clients
-  /// over DDS.
-  ///
-  /// \param[out] new_robot_states
-  ///   A vector of new incoming robot states sent by clients to update the
-  ///   fleet management system.
-  /// \return
-  ///   True if new robot states were received, false otherwise.
-  bool read_robot_states(std::vector<messages::RobotState>& new_robot_states);
-
-  /// Attempts to send a new mode request to all the clients. Clients are in
-  /// charge to identify if requests are targetted towards them.
-  /// 
-  /// \param[in] mode_request
-  ///   New mode request to be sent out to the clients.
-  /// \return
-  ///   True if the mode request was successfully sent, false otherwise.
-  bool send_mode_request(const messages::ModeRequest& mode_request);
-
-  /// Attempts to send a new path request to all the clients. Clients are in
-  /// charge to identify if requests are targetted towards them.
-  ///
-  /// \param[in] path_request
-  ///   New path request to be sent out to the clients.
-  /// \return
-  ///   True if the path request was successfully sent, false otherwise.
-  bool send_path_request(const messages::PathRequest& path_request);
-
-  /// Attempts to send a new destination request to all the clients. Clients 
-  /// are in charge to identify if requests are targetted towards them.
-  ///
-  /// \param[in] destination_request
-  ///   New destination request to be sent out to the clients.
-  /// \return
-  ///   True if the destination request was successfully sent, false otherwise.
-  bool send_destination_request(
-      const messages::DestinationRequest& destination_request);
-
-  /// Destructor
-  ~Server();
-
-private:
-
-  /// Forward declaration and unique implementation
-  class ServerImpl;
-
-  std::unique_ptr<ServerImpl> impl;
-
-  Server(const ServerConfig& config);
-
-};
-
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__SERVER_HPP
diff --git a/free_fleet/include/free_fleet/ServerConfig.hpp b/free_fleet/include/free_fleet/ServerConfig.hpp
deleted file mode 100644
index d120bd5e..00000000
--- a/free_fleet/include/free_fleet/ServerConfig.hpp
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__SERVERCONFIG_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__SERVERCONFIG_HPP
-
-#include <string>
-
-namespace free_fleet {
-
-struct ServerConfig
-{
-  int dds_domain = 42;
-  std::string dds_robot_state_topic = "robot_state";
-  std::string dds_mode_request_topic = "mode_request";
-  std::string dds_path_request_topic = "path_request";
-  std::string dds_destination_request_topic = "destination_request";
-
-  void print_config() const;
-};
-
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__SERVERCONFIG_HPP
diff --git a/free_fleet/include/free_fleet/messages/DestinationRequest.hpp b/free_fleet/include/free_fleet/messages/DestinationRequest.hpp
deleted file mode 100644
index 6ee5f305..00000000
--- a/free_fleet/include/free_fleet/messages/DestinationRequest.hpp
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__DESTINATIONREQUEST_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__DESTINATIONREQUEST_HPP
-
-#include "Location.hpp"
-
-namespace free_fleet {
-namespace messages {
-
-struct DestinationRequest
-{
-  std::string fleet_name;
-  std::string robot_name;
-  Location destination;
-  std::string task_id;
-};
-
-} // namespace messages
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__DESTINATIONREQUEST_HPP
diff --git a/free_fleet/include/free_fleet/messages/Location.hpp b/free_fleet/include/free_fleet/messages/Location.hpp
deleted file mode 100644
index 3fa9d9de..00000000
--- a/free_fleet/include/free_fleet/messages/Location.hpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__LOCATION_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__LOCATION_HPP
-
-#include <string>
-#include <cstdint>
-
-namespace free_fleet {
-namespace messages {
-
-struct Location
-{
-  int32_t sec;
-  uint32_t nanosec;
-  float x;
-  float y;
-  float yaw;
-  std::string level_name;
-};
-
-} // namespace messages
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__LOCATION_HPP
diff --git a/free_fleet/include/free_fleet/messages/ModeParameter.hpp b/free_fleet/include/free_fleet/messages/ModeParameter.hpp
deleted file mode 100644
index 7cc74978..00000000
--- a/free_fleet/include/free_fleet/messages/ModeParameter.hpp
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
- * Copyright (C) 2020 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__MODEPARAMETER_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__MODEPARAMETER_HPP
-
-#include <string>
-
-namespace free_fleet {
-namespace messages {
-
-struct ModeParameter
-{
-  std::string name;
-  std::string value;
-};
-
-} // namespace messages
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__MODEPARAMETER_HPP
diff --git a/free_fleet/include/free_fleet/messages/ModeRequest.hpp b/free_fleet/include/free_fleet/messages/ModeRequest.hpp
deleted file mode 100644
index 6a0fa500..00000000
--- a/free_fleet/include/free_fleet/messages/ModeRequest.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__MODEREQUEST_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__MODEREQUEST_HPP
-
-#include <string>
-#include <vector>
-
-#include "RobotMode.hpp"
-#include "ModeParameter.hpp"
-
-namespace free_fleet {
-namespace messages {
-
-struct ModeRequest
-{
-  std::string fleet_name;
-  std::string robot_name;
-  RobotMode mode;
-  std::string task_id;
-  std::vector<ModeParameter> parameters;
-};
-
-} // namespace messages
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__MODEREQUEST_HPP
diff --git a/free_fleet/include/free_fleet/messages/PathRequest.hpp b/free_fleet/include/free_fleet/messages/PathRequest.hpp
deleted file mode 100644
index 08dda10e..00000000
--- a/free_fleet/include/free_fleet/messages/PathRequest.hpp
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__PATHREQUEST_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__PATHREQUEST_HPP
-
-#include <vector>
-
-#include "Location.hpp"
-
-namespace free_fleet {
-namespace messages {
-
-struct PathRequest
-{
-  std::string fleet_name;
-  std::string robot_name;
-  std::vector<Location> path;
-  std::string task_id;
-};
-
-} // namespace messages
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__PATHREQUEST_HPP
diff --git a/free_fleet/include/free_fleet/messages/RobotMode.hpp b/free_fleet/include/free_fleet/messages/RobotMode.hpp
deleted file mode 100644
index c092cbe1..00000000
--- a/free_fleet/include/free_fleet/messages/RobotMode.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__ROBOTMODE_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__ROBOTMODE_HPP
-
-#include <cstdint>
-
-namespace free_fleet {
-namespace messages {
-
-struct RobotMode
-{
-  uint32_t mode;
-  static const uint32_t MODE_IDLE = 0;
-  static const uint32_t MODE_CHARGING = 1;
-  static const uint32_t MODE_MOVING = 2;
-  static const uint32_t MODE_PAUSED = 3;
-  static const uint32_t MODE_WAITING = 4;
-  static const uint32_t MODE_EMERGENCY = 5;
-  static const uint32_t MODE_GOING_HOME = 6;
-  static const uint32_t MODE_DOCKING = 7;
-  static const uint32_t MODE_REQUEST_ERROR = 8;
-};
-
-} // namespace messages
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__ROBOTMODE_HPP
diff --git a/free_fleet/include/free_fleet/messages/RobotState.hpp b/free_fleet/include/free_fleet/messages/RobotState.hpp
deleted file mode 100644
index 1cd06c8d..00000000
--- a/free_fleet/include/free_fleet/messages/RobotState.hpp
+++ /dev/null
@@ -1,44 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__ROBOTSTATE_HPP
-#define FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__ROBOTSTATE_HPP
-
-#include <string>
-#include <vector>
-
-#include "Location.hpp"
-#include "RobotMode.hpp"
-
-namespace free_fleet {
-namespace messages {
-
-struct RobotState
-{
-  std::string name;
-  std::string model;
-  std::string task_id;
-  RobotMode mode;
-  float battery_percent;
-  Location location;
-  std::vector<Location> path;
-};
-
-} // namespace messages
-} // namespace free_fleet
-
-#endif // FREE_FLEET__INCLUDE__FREE_FLEET__MESSAGES__ROBOTSTATE_HPP
diff --git a/free_fleet/include/utilities/catch.hpp b/free_fleet/include/utilities/catch.hpp
deleted file mode 100644
index b1b2411d..00000000
--- a/free_fleet/include/utilities/catch.hpp
+++ /dev/null
@@ -1,14362 +0,0 @@
-/*
- *  Catch v2.5.0
- *  Generated: 2018-11-26 20:46:12.165372
- *  ----------------------------------------------------------
- *  This file has been merged from multiple headers. Please don't edit it directly
- *  Copyright (c) 2018 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-// start catch.hpp
-
-
-#define CATCH_VERSION_MAJOR 2
-#define CATCH_VERSION_MINOR 5
-#define CATCH_VERSION_PATCH 0
-
-#ifdef __clang__
-#    pragma clang system_header
-#elif defined __GNUC__
-#    pragma GCC system_header
-#endif
-
-// start catch_suppress_warnings.h
-
-#ifdef __clang__
-#   ifdef __ICC // icpc defines the __clang__ macro
-#       pragma warning(push)
-#       pragma warning(disable: 161 1682)
-#   else // __ICC
-#       pragma clang diagnostic push
-#       pragma clang diagnostic ignored "-Wpadded"
-#       pragma clang diagnostic ignored "-Wswitch-enum"
-#       pragma clang diagnostic ignored "-Wcovered-switch-default"
-#    endif
-#elif defined __GNUC__
-     // GCC likes to warn on REQUIREs, and we cannot suppress them
-     // locally because g++'s support for _Pragma is lacking in older,
-     // still supported, versions
-#    pragma GCC diagnostic ignored "-Wparentheses"
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wunused-variable"
-#    pragma GCC diagnostic ignored "-Wpadded"
-#endif
-// end catch_suppress_warnings.h
-#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER)
-#  define CATCH_IMPL
-#  define CATCH_CONFIG_ALL_PARTS
-#endif
-
-// In the impl file, we want to have access to all parts of the headers
-// Can also be used to sanely support PCHs
-#if defined(CATCH_CONFIG_ALL_PARTS)
-#  define CATCH_CONFIG_EXTERNAL_INTERFACES
-#  if defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#    undef CATCH_CONFIG_DISABLE_MATCHERS
-#  endif
-#  if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#    define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#  endif
-#endif
-
-#if !defined(CATCH_CONFIG_IMPL_ONLY)
-// start catch_platform.h
-
-#ifdef __APPLE__
-# include <TargetConditionals.h>
-# if TARGET_OS_OSX == 1
-#  define CATCH_PLATFORM_MAC
-# elif TARGET_OS_IPHONE == 1
-#  define CATCH_PLATFORM_IPHONE
-# endif
-
-#elif defined(linux) || defined(__linux) || defined(__linux__)
-#  define CATCH_PLATFORM_LINUX
-
-#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) || defined(__MINGW32__)
-#  define CATCH_PLATFORM_WINDOWS
-#endif
-
-// end catch_platform.h
-
-#ifdef CATCH_IMPL
-#  ifndef CLARA_CONFIG_MAIN
-#    define CLARA_CONFIG_MAIN_NOT_DEFINED
-#    define CLARA_CONFIG_MAIN
-#  endif
-#endif
-
-// start catch_user_interfaces.h
-
-namespace Catch {
-    unsigned int rngSeed();
-}
-
-// end catch_user_interfaces.h
-// start catch_tag_alias_autoregistrar.h
-
-// start catch_common.h
-
-// start catch_compiler_capabilities.h
-
-// Detect a number of compiler features - by compiler
-// The following features are defined:
-//
-// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported?
-// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported?
-// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported?
-// CATCH_CONFIG_DISABLE_EXCEPTIONS : Are exceptions enabled?
-// ****************
-// Note to maintainers: if new toggles are added please document them
-// in configuration.md, too
-// ****************
-
-// In general each macro has a _NO_<feature name> form
-// (e.g. CATCH_CONFIG_NO_POSIX_SIGNALS) which disables the feature.
-// Many features, at point of detection, define an _INTERNAL_ macro, so they
-// can be combined, en-mass, with the _NO_ forms later.
-
-#ifdef __cplusplus
-
-#  if (__cplusplus >= 201402L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201402L)
-#    define CATCH_CPP14_OR_GREATER
-#  endif
-
-#  if (__cplusplus >= 201703L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L)
-#    define CATCH_CPP17_OR_GREATER
-#  endif
-
-#endif
-
-#if defined(CATCH_CPP17_OR_GREATER)
-#  define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#endif
-
-#ifdef __clang__
-
-#       define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-            _Pragma( "clang diagnostic push" ) \
-            _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \
-            _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"")
-#       define CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-            _Pragma( "clang diagnostic pop" )
-
-#       define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
-            _Pragma( "clang diagnostic push" ) \
-            _Pragma( "clang diagnostic ignored \"-Wparentheses\"" )
-#       define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \
-            _Pragma( "clang diagnostic pop" )
-
-#       define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-            _Pragma( "clang diagnostic push" ) \
-            _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" )
-#       define CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS \
-            _Pragma( "clang diagnostic pop" )
-
-#endif // __clang__
-
-////////////////////////////////////////////////////////////////////////////////
-// Assume that non-Windows platforms support posix signals by default
-#if !defined(CATCH_PLATFORM_WINDOWS)
-    #define CATCH_INTERNAL_CONFIG_POSIX_SIGNALS
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// We know some environments not to support full POSIX signals
-#if defined(__CYGWIN__) || defined(__QNX__) || defined(__EMSCRIPTEN__) || defined(__DJGPP__)
-    #define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
-#endif
-
-#ifdef __OS400__
-#       define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
-#       define CATCH_CONFIG_COLOUR_NONE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Android somehow still does not support std::to_string
-#if defined(__ANDROID__)
-#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Not all Windows environments support SEH properly
-#if defined(__MINGW32__)
-#    define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// PS4
-#if defined(__ORBIS__)
-#    define CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Cygwin
-#ifdef __CYGWIN__
-
-// Required for some versions of Cygwin to declare gettimeofday
-// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin
-#   define _BSD_SOURCE
-// some versions of cygwin (most) do not support std::to_string. Use the libstd check.
-// https://gcc.gnu.org/onlinedocs/gcc-4.8.2/libstdc++/api/a01053_source.html line 2812-2813
-# if !((__cplusplus >= 201103L) && defined(_GLIBCXX_USE_C99) \
-	       && !defined(_GLIBCXX_HAVE_BROKEN_VSWPRINTF))
-
-#	define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
-
-# endif
-#endif // __CYGWIN__
-
-////////////////////////////////////////////////////////////////////////////////
-// Visual C++
-#ifdef _MSC_VER
-
-#  if _MSC_VER >= 1900 // Visual Studio 2015 or newer
-#    define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#  endif
-
-// Universal Windows platform does not support SEH
-// Or console colours (or console at all...)
-#  if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP)
-#    define CATCH_CONFIG_COLOUR_NONE
-#  else
-#    define CATCH_INTERNAL_CONFIG_WINDOWS_SEH
-#  endif
-
-// MSVC traditional preprocessor needs some workaround for __VA_ARGS__
-// _MSVC_TRADITIONAL == 0 means new conformant preprocessor
-// _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor
-#  if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL)
-#    define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#  endif
-
-#endif // _MSC_VER
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if we are compiled with -fno-exceptions or equivalent
-#if defined(__EXCEPTIONS) || defined(__cpp_exceptions) || defined(_CPPUNWIND)
-#  define CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// DJGPP
-#ifdef __DJGPP__
-#  define CATCH_INTERNAL_CONFIG_NO_WCHAR
-#endif // __DJGPP__
-
-////////////////////////////////////////////////////////////////////////////////
-// Embarcadero C++Build
-#if defined(__BORLANDC__)
-    #define CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-
-// Use of __COUNTER__ is suppressed during code analysis in
-// CLion/AppCode 2017.2.x and former, because __COUNTER__ is not properly
-// handled by it.
-// Otherwise all supported compilers support COUNTER macro,
-// but user still might want to turn it off
-#if ( !defined(__JETBRAINS_IDE__) || __JETBRAINS_IDE__ >= 20170300L )
-    #define CATCH_INTERNAL_CONFIG_COUNTER
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if string_view is available and usable
-// The check is split apart to work around v140 (VS2015) preprocessor issue...
-#if defined(__has_include)
-#if __has_include(<string_view>) && defined(CATCH_CPP17_OR_GREATER)
-#    define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW
-#endif
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if variant is available and usable
-#if defined(__has_include)
-#  if __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
-#    if defined(__clang__) && (__clang_major__ < 8)
-       // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852
-       // fix should be in clang 8, workaround in libstdc++ 8.2
-#      include <ciso646>
-#      if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
-#        define CATCH_CONFIG_NO_CPP17_VARIANT
-#     else
-#        define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
-#      endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
-#    endif // defined(__clang__) && (__clang_major__ < 8)
-#  endif // __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
-#endif // __has_include
-
-#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER)
-#   define CATCH_CONFIG_COUNTER
-#endif
-#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) && !defined(CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH)
-#   define CATCH_CONFIG_WINDOWS_SEH
-#endif
-// This is set by default, because we assume that unix compilers are posix-signal-compatible by default.
-#if defined(CATCH_INTERNAL_CONFIG_POSIX_SIGNALS) && !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS)
-#   define CATCH_CONFIG_POSIX_SIGNALS
-#endif
-// This is set by default, because we assume that compilers with no wchar_t support are just rare exceptions.
-#if !defined(CATCH_INTERNAL_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_WCHAR)
-#   define CATCH_CONFIG_WCHAR
-#endif
-
-#if !defined(CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_CPP11_TO_STRING)
-#    define CATCH_CONFIG_CPP11_TO_STRING
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-#  define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW)
-#  define CATCH_CONFIG_CPP17_STRING_VIEW
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_VARIANT) && !defined(CATCH_CONFIG_NO_CPP17_VARIANT) && !defined(CATCH_CONFIG_CPP17_VARIANT)
-#  define CATCH_CONFIG_CPP17_VARIANT
-#endif
-
-#if defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
-#  define CATCH_INTERNAL_CONFIG_NEW_CAPTURE
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_NEW_CAPTURE) && !defined(CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NEW_CAPTURE)
-#  define CATCH_CONFIG_NEW_CAPTURE
-#endif
-
-#if !defined(CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-#  define CATCH_CONFIG_DISABLE_EXCEPTIONS
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_NO_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_POLYFILL_ISNAN)
-#  define CATCH_CONFIG_POLYFILL_ISNAN
-#endif
-
-#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS
-#   define CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-#   define CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS
-#   define CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS
-#endif
-
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-#define CATCH_TRY if ((true))
-#define CATCH_CATCH_ALL if ((false))
-#define CATCH_CATCH_ANON(type) if ((false))
-#else
-#define CATCH_TRY try
-#define CATCH_CATCH_ALL catch (...)
-#define CATCH_CATCH_ANON(type) catch (type)
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_NO_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR)
-#define CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#endif
-
-// end catch_compiler_capabilities.h
-#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line
-#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line )
-#ifdef CATCH_CONFIG_COUNTER
-#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ )
-#else
-#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ )
-#endif
-
-#include <iosfwd>
-#include <string>
-#include <cstdint>
-
-// We need a dummy global operator<< so we can bring it into Catch namespace later
-struct Catch_global_namespace_dummy {};
-std::ostream& operator<<(std::ostream&, Catch_global_namespace_dummy);
-
-namespace Catch {
-
-    struct CaseSensitive { enum Choice {
-        Yes,
-        No
-    }; };
-
-    class NonCopyable {
-        NonCopyable( NonCopyable const& )              = delete;
-        NonCopyable( NonCopyable && )                  = delete;
-        NonCopyable& operator = ( NonCopyable const& ) = delete;
-        NonCopyable& operator = ( NonCopyable && )     = delete;
-
-    protected:
-        NonCopyable();
-        virtual ~NonCopyable();
-    };
-
-    struct SourceLineInfo {
-
-        SourceLineInfo() = delete;
-        SourceLineInfo( char const* _file, std::size_t _line ) noexcept
-        :   file( _file ),
-            line( _line )
-        {}
-
-        SourceLineInfo( SourceLineInfo const& other )        = default;
-        SourceLineInfo( SourceLineInfo && )                  = default;
-        SourceLineInfo& operator = ( SourceLineInfo const& ) = default;
-        SourceLineInfo& operator = ( SourceLineInfo && )     = default;
-
-        bool empty() const noexcept;
-        bool operator == ( SourceLineInfo const& other ) const noexcept;
-        bool operator < ( SourceLineInfo const& other ) const noexcept;
-
-        char const* file;
-        std::size_t line;
-    };
-
-    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info );
-
-    // Bring in operator<< from global namespace into Catch namespace
-    // This is necessary because the overload of operator<< above makes
-    // lookup stop at namespace Catch
-    using ::operator<<;
-
-    // Use this in variadic streaming macros to allow
-    //    >> +StreamEndStop
-    // as well as
-    //    >> stuff +StreamEndStop
-    struct StreamEndStop {
-        std::string operator+() const;
-    };
-    template<typename T>
-    T const& operator + ( T const& value, StreamEndStop ) {
-        return value;
-    }
-}
-
-#define CATCH_INTERNAL_LINEINFO \
-    ::Catch::SourceLineInfo( __FILE__, static_cast<std::size_t>( __LINE__ ) )
-
-// end catch_common.h
-namespace Catch {
-
-    struct RegistrarForTagAliases {
-        RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo );
-    };
-
-} // end namespace Catch
-
-#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-    namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \
-    CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-// end catch_tag_alias_autoregistrar.h
-// start catch_test_registry.h
-
-// start catch_interfaces_testcase.h
-
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    class TestSpec;
-
-    struct ITestInvoker {
-        virtual void invoke () const = 0;
-        virtual ~ITestInvoker();
-    };
-
-    using ITestCasePtr = std::shared_ptr<ITestInvoker>;
-
-    class TestCase;
-    struct IConfig;
-
-    struct ITestCaseRegistry {
-        virtual ~ITestCaseRegistry();
-        virtual std::vector<TestCase> const& getAllTests() const = 0;
-        virtual std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const = 0;
-    };
-
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
-
-}
-
-// end catch_interfaces_testcase.h
-// start catch_stringref.h
-
-#include <cstddef>
-#include <string>
-#include <iosfwd>
-
-namespace Catch {
-
-    class StringData;
-
-    /// A non-owning string class (similar to the forthcoming std::string_view)
-    /// Note that, because a StringRef may be a substring of another string,
-    /// it may not be null terminated. c_str() must return a null terminated
-    /// string, however, and so the StringRef will internally take ownership
-    /// (taking a copy), if necessary. In theory this ownership is not externally
-    /// visible - but it does mean (substring) StringRefs should not be shared between
-    /// threads.
-    class StringRef {
-    public:
-        using size_type = std::size_t;
-
-    private:
-        friend struct StringRefTestAccess;
-
-        char const* m_start;
-        size_type m_size;
-
-        char* m_data = nullptr;
-
-        void takeOwnership();
-
-        static constexpr char const* const s_empty = "";
-
-    public: // construction/ assignment
-        StringRef() noexcept
-        :   StringRef( s_empty, 0 )
-        {}
-
-        StringRef( StringRef const& other ) noexcept
-        :   m_start( other.m_start ),
-            m_size( other.m_size )
-        {}
-
-        StringRef( StringRef&& other ) noexcept
-        :   m_start( other.m_start ),
-            m_size( other.m_size ),
-            m_data( other.m_data )
-        {
-            other.m_data = nullptr;
-        }
-
-        StringRef( char const* rawChars ) noexcept;
-
-        StringRef( char const* rawChars, size_type size ) noexcept
-        :   m_start( rawChars ),
-            m_size( size )
-        {}
-
-        StringRef( std::string const& stdString ) noexcept
-        :   m_start( stdString.c_str() ),
-            m_size( stdString.size() )
-        {}
-
-        ~StringRef() noexcept {
-            delete[] m_data;
-        }
-
-        auto operator = ( StringRef const &other ) noexcept -> StringRef& {
-            delete[] m_data;
-            m_data = nullptr;
-            m_start = other.m_start;
-            m_size = other.m_size;
-            return *this;
-        }
-
-        operator std::string() const;
-
-        void swap( StringRef& other ) noexcept;
-
-    public: // operators
-        auto operator == ( StringRef const& other ) const noexcept -> bool;
-        auto operator != ( StringRef const& other ) const noexcept -> bool;
-
-        auto operator[] ( size_type index ) const noexcept -> char;
-
-    public: // named queries
-        auto empty() const noexcept -> bool {
-            return m_size == 0;
-        }
-        auto size() const noexcept -> size_type {
-            return m_size;
-        }
-
-        auto numberOfCharacters() const noexcept -> size_type;
-        auto c_str() const -> char const*;
-
-    public: // substrings and searches
-        auto substr( size_type start, size_type size ) const noexcept -> StringRef;
-
-        // Returns the current start pointer.
-        // Note that the pointer can change when if the StringRef is a substring
-        auto currentData() const noexcept -> char const*;
-
-    private: // ownership queries - may not be consistent between calls
-        auto isOwned() const noexcept -> bool;
-        auto isSubstring() const noexcept -> bool;
-    };
-
-    auto operator + ( StringRef const& lhs, StringRef const& rhs ) -> std::string;
-    auto operator + ( StringRef const& lhs, char const* rhs ) -> std::string;
-    auto operator + ( char const* lhs, StringRef const& rhs ) -> std::string;
-
-    auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&;
-    auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&;
-
-    inline auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef {
-        return StringRef( rawChars, size );
-    }
-
-} // namespace Catch
-
-inline auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef {
-    return Catch::StringRef( rawChars, size );
-}
-
-// end catch_stringref.h
-// start catch_type_traits.hpp
-
-
-namespace Catch{
-
-#ifdef CATCH_CPP17_OR_GREATER
-	template <typename...>
-	inline constexpr auto is_unique = std::true_type{};
-
-	template <typename T, typename... Rest>
-	inline constexpr auto is_unique<T, Rest...> = std::bool_constant<
-		(!std::is_same_v<T, Rest> && ...) && is_unique<Rest...>
-	>{};
-#else
-
-template <typename...>
-struct is_unique : std::true_type{};
-
-template <typename T0, typename T1, typename... Rest>
-struct is_unique<T0, T1, Rest...> : std::integral_constant
-<bool,
-     !std::is_same<T0, T1>::value
-     && is_unique<T0, Rest...>::value
-     && is_unique<T1, Rest...>::value
->{};
-
-#endif
-}
-
-// end catch_type_traits.hpp
-// start catch_preprocessor.hpp
-
-
-#define CATCH_RECURSION_LEVEL0(...) __VA_ARGS__
-#define CATCH_RECURSION_LEVEL1(...) CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL2(...) CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL3(...) CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL4(...) CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL5(...) CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(__VA_ARGS__)))
-
-#ifdef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_EXPAND_VARGS(...) __VA_ARGS__
-// MSVC needs more evaluations
-#define CATCH_RECURSION_LEVEL6(...) CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(__VA_ARGS__)))
-#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL6(CATCH_RECURSION_LEVEL6(__VA_ARGS__))
-#else
-#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL5(__VA_ARGS__)
-#endif
-
-#define CATCH_REC_END(...)
-#define CATCH_REC_OUT
-
-#define CATCH_EMPTY()
-#define CATCH_DEFER(id) id CATCH_EMPTY()
-
-#define CATCH_REC_GET_END2() 0, CATCH_REC_END
-#define CATCH_REC_GET_END1(...) CATCH_REC_GET_END2
-#define CATCH_REC_GET_END(...) CATCH_REC_GET_END1
-#define CATCH_REC_NEXT0(test, next, ...) next CATCH_REC_OUT
-#define CATCH_REC_NEXT1(test, next) CATCH_DEFER ( CATCH_REC_NEXT0 ) ( test, next, 0)
-#define CATCH_REC_NEXT(test, next)  CATCH_REC_NEXT1(CATCH_REC_GET_END test, next)
-
-#define CATCH_REC_LIST0(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST1(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0) ) ( f, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST2(f, x, peek, ...)   f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
-
-#define CATCH_REC_LIST0_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST1_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST2_UD(f, userdata, x, peek, ...)   f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-
-// Applies the function macro `f` to each of the remaining parameters, inserts commas between the results,
-// and passes userdata as the first parameter to each invocation,
-// e.g. CATCH_REC_LIST_UD(f, x, a, b, c) evaluates to f(x, a), f(x, b), f(x, c)
-#define CATCH_REC_LIST_UD(f, userdata, ...) CATCH_RECURSE(CATCH_REC_LIST2_UD(f, userdata, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
-
-#define CATCH_REC_LIST(f, ...) CATCH_RECURSE(CATCH_REC_LIST2(f, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
-
-#define INTERNAL_CATCH_EXPAND1(param) INTERNAL_CATCH_EXPAND2(param)
-#define INTERNAL_CATCH_EXPAND2(...) INTERNAL_CATCH_NO## __VA_ARGS__
-#define INTERNAL_CATCH_DEF(...) INTERNAL_CATCH_DEF __VA_ARGS__
-#define INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
-
-#define INTERNAL_CATCH_REMOVE_PARENS(...) INTERNAL_CATCH_EXPAND1(INTERNAL_CATCH_DEF __VA_ARGS__)
-
-#define INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME2(Name, ...) INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME3(Name, __VA_ARGS__)
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME3(Name,...) Name " - " #__VA_ARGS__
-#define INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME(Name,...) INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME2(Name, INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__))
-#else
-// MSVC is adding extra space and needs more calls to properly remove ()
-#define INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME3(Name,...) Name " -" #__VA_ARGS__
-#define INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME1(Name, ...) INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME2(Name, __VA_ARGS__)
-#define INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME(Name, ...) INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME1(Name, INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__)))
-#endif
-
-// end catch_preprocessor.hpp
-namespace Catch {
-
-template<typename C>
-class TestInvokerAsMethod : public ITestInvoker {
-    void (C::*m_testAsMethod)();
-public:
-    TestInvokerAsMethod( void (C::*testAsMethod)() ) noexcept : m_testAsMethod( testAsMethod ) {}
-
-    void invoke() const override {
-        C obj;
-        (obj.*m_testAsMethod)();
-    }
-};
-
-auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker*;
-
-template<typename C>
-auto makeTestInvoker( void (C::*testAsMethod)() ) noexcept -> ITestInvoker* {
-    return new(std::nothrow) TestInvokerAsMethod<C>( testAsMethod );
-}
-
-struct NameAndTags {
-    NameAndTags( StringRef const& name_ = StringRef(), StringRef const& tags_ = StringRef() ) noexcept;
-    StringRef name;
-    StringRef tags;
-};
-
-struct AutoReg : NonCopyable {
-    AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept;
-    ~AutoReg();
-};
-
-} // end namespace Catch
-
-#if defined(CATCH_CONFIG_DISABLE)
-    #define INTERNAL_CATCH_TESTCASE_NO_REGISTRATION( TestName, ... ) \
-        static void TestName()
-    #define INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION( TestName, ClassName, ... ) \
-        namespace{                        \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
-                void test();              \
-            };                            \
-        }                                 \
-        void TestName::test()
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION( TestName, ... )  \
-        template<typename TestType>                                             \
-        static void TestName()
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( TestName, ClassName, ... )    \
-        namespace{                                                                                  \
-            template<typename TestType>                                                             \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) {     \
-                void test();                                                                        \
-            };                                                                                      \
-        }                                                                                           \
-        template<typename TestType>                                                                 \
-        void TestName::test()
-#endif
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TESTCASE2( TestName, ... ) \
-        static void TestName(); \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &TestName ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-        static void TestName()
-    #define INTERNAL_CATCH_TESTCASE( ... ) \
-        INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), __VA_ARGS__ )
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, ... ) \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &QualifiedMethod ), CATCH_INTERNAL_LINEINFO, "&" #QualifiedMethod, Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestName, ClassName, ... )\
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
-                void test(); \
-            }; \
-            Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
-        } \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-        void TestName::test()
-    #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, ... ) \
-        INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, __VA_ARGS__ )
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, ... ) \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( Function ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_2(TestName, TestFunc, Name, Tags, ... )\
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        template<typename TestType> \
-        static void TestFunc();\
-        namespace {\
-            template<typename...Types> \
-            struct TestName{\
-                template<typename...Ts> \
-                TestName(Ts...names){\
-                    CATCH_INTERNAL_CHECK_UNIQUE_TYPES(CATCH_REC_LIST(INTERNAL_CATCH_REMOVE_PARENS, __VA_ARGS__)) \
-                    using expander = int[];\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFunc<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ names, Tags } ), 0)... };/* NOLINT */ \
-                }\
-            };\
-            INTERNAL_CATCH_TEMPLATE_REGISTRY_INITIATE(TestName, Name, __VA_ARGS__) \
-        }\
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-        template<typename TestType> \
-        static void TestFunc()
-
-#if defined(CATCH_CPP17_OR_GREATER)
-#define CATCH_INTERNAL_CHECK_UNIQUE_TYPES(...) static_assert(Catch::is_unique<__VA_ARGS__>,"Duplicate type detected in declaration of template test case");
-#else
-#define CATCH_INTERNAL_CHECK_UNIQUE_TYPES(...) static_assert(Catch::is_unique<__VA_ARGS__>::value,"Duplicate type detected in declaration of template test case");
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_REGISTRY_INITIATE(TestName, Name, ...)\
-        static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-            TestName<CATCH_REC_LIST(INTERNAL_CATCH_REMOVE_PARENS, __VA_ARGS__)>(CATCH_REC_LIST_UD(INTERNAL_CATCH_TEMPLATE_UNIQUE_NAME,Name, __VA_ARGS__));\
-            return 0;\
-        }();
-
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, ... ) \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ \
-            template<typename TestType> \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
-                void test();\
-            };\
-            template<typename...Types> \
-            struct TestNameClass{\
-                template<typename...Ts> \
-                TestNameClass(Ts...names){\
-                    CATCH_INTERNAL_CHECK_UNIQUE_TYPES(CATCH_REC_LIST(INTERNAL_CATCH_REMOVE_PARENS, __VA_ARGS__)) \
-                    using expander = int[];\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ names, Tags } ), 0)... };/* NOLINT */ \
-                }\
-            };\
-            INTERNAL_CATCH_TEMPLATE_REGISTRY_INITIATE(TestNameClass, Name, __VA_ARGS__)\
-        }\
-        CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS\
-        template<typename TestType> \
-        void TestName<TestType>::test()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, __VA_ARGS__ ) )
-#endif
-
-// end catch_test_registry.h
-// start catch_capture.hpp
-
-// start catch_assertionhandler.h
-
-// start catch_assertioninfo.h
-
-// start catch_result_type.h
-
-namespace Catch {
-
-    // ResultWas::OfType enum
-    struct ResultWas { enum OfType {
-        Unknown = -1,
-        Ok = 0,
-        Info = 1,
-        Warning = 2,
-
-        FailureBit = 0x10,
-
-        ExpressionFailed = FailureBit | 1,
-        ExplicitFailure = FailureBit | 2,
-
-        Exception = 0x100 | FailureBit,
-
-        ThrewException = Exception | 1,
-        DidntThrowException = Exception | 2,
-
-        FatalErrorCondition = 0x200 | FailureBit
-
-    }; };
-
-    bool isOk( ResultWas::OfType resultType );
-    bool isJustInfo( int flags );
-
-    // ResultDisposition::Flags enum
-    struct ResultDisposition { enum Flags {
-        Normal = 0x01,
-
-        ContinueOnFailure = 0x02,   // Failures fail test, but execution continues
-        FalseTest = 0x04,           // Prefix expression with !
-        SuppressFail = 0x08         // Failures are reported but do not fail the test
-    }; };
-
-    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs );
-
-    bool shouldContinueOnFailure( int flags );
-    inline bool isFalseTest( int flags ) { return ( flags & ResultDisposition::FalseTest ) != 0; }
-    bool shouldSuppressFailure( int flags );
-
-} // end namespace Catch
-
-// end catch_result_type.h
-namespace Catch {
-
-    struct AssertionInfo
-    {
-        StringRef macroName;
-        SourceLineInfo lineInfo;
-        StringRef capturedExpression;
-        ResultDisposition::Flags resultDisposition;
-
-        // We want to delete this constructor but a compiler bug in 4.8 means
-        // the struct is then treated as non-aggregate
-        //AssertionInfo() = delete;
-    };
-
-} // end namespace Catch
-
-// end catch_assertioninfo.h
-// start catch_decomposer.h
-
-// start catch_tostring.h
-
-#include <vector>
-#include <cstddef>
-#include <type_traits>
-#include <string>
-// start catch_stream.h
-
-#include <iosfwd>
-#include <cstddef>
-#include <ostream>
-
-namespace Catch {
-
-    std::ostream& cout();
-    std::ostream& cerr();
-    std::ostream& clog();
-
-    class StringRef;
-
-    struct IStream {
-        virtual ~IStream();
-        virtual std::ostream& stream() const = 0;
-    };
-
-    auto makeStream( StringRef const &filename ) -> IStream const*;
-
-    class ReusableStringStream {
-        std::size_t m_index;
-        std::ostream* m_oss;
-    public:
-        ReusableStringStream();
-        ~ReusableStringStream();
-
-        auto str() const -> std::string;
-
-        template<typename T>
-        auto operator << ( T const& value ) -> ReusableStringStream& {
-            *m_oss << value;
-            return *this;
-        }
-        auto get() -> std::ostream& { return *m_oss; }
-    };
-}
-
-// end catch_stream.h
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-#include <string_view>
-#endif
-
-#ifdef __OBJC__
-// start catch_objc_arc.hpp
-
-#import <Foundation/Foundation.h>
-
-#ifdef __has_feature
-#define CATCH_ARC_ENABLED __has_feature(objc_arc)
-#else
-#define CATCH_ARC_ENABLED 0
-#endif
-
-void arcSafeRelease( NSObject* obj );
-id performOptionalSelector( id obj, SEL sel );
-
-#if !CATCH_ARC_ENABLED
-inline void arcSafeRelease( NSObject* obj ) {
-    [obj release];
-}
-inline id performOptionalSelector( id obj, SEL sel ) {
-    if( [obj respondsToSelector: sel] )
-        return [obj performSelector: sel];
-    return nil;
-}
-#define CATCH_UNSAFE_UNRETAINED
-#define CATCH_ARC_STRONG
-#else
-inline void arcSafeRelease( NSObject* ){}
-inline id performOptionalSelector( id obj, SEL sel ) {
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Warc-performSelector-leaks"
-#endif
-    if( [obj respondsToSelector: sel] )
-        return [obj performSelector: sel];
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-    return nil;
-}
-#define CATCH_UNSAFE_UNRETAINED __unsafe_unretained
-#define CATCH_ARC_STRONG __strong
-#endif
-
-// end catch_objc_arc.hpp
-#endif
-
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4180) // We attempt to stream a function (address) by const&, which MSVC complains about but is harmless
-#endif
-
-namespace Catch {
-    namespace Detail {
-
-        extern const std::string unprintableString;
-
-        std::string rawMemoryToString( const void *object, std::size_t size );
-
-        template<typename T>
-        std::string rawMemoryToString( const T& object ) {
-          return rawMemoryToString( &object, sizeof(object) );
-        }
-
-        template<typename T>
-        class IsStreamInsertable {
-            template<typename SS, typename TT>
-            static auto test(int)
-                -> decltype(std::declval<SS&>() << std::declval<TT>(), std::true_type());
-
-            template<typename, typename>
-            static auto test(...)->std::false_type;
-
-        public:
-            static const bool value = decltype(test<std::ostream, const T&>(0))::value;
-        };
-
-        template<typename E>
-        std::string convertUnknownEnumToString( E e );
-
-        template<typename T>
-        typename std::enable_if<
-            !std::is_enum<T>::value && !std::is_base_of<std::exception, T>::value,
-        std::string>::type convertUnstreamable( T const& ) {
-            return Detail::unprintableString;
-        }
-        template<typename T>
-        typename std::enable_if<
-            !std::is_enum<T>::value && std::is_base_of<std::exception, T>::value,
-         std::string>::type convertUnstreamable(T const& ex) {
-            return ex.what();
-        }
-
-        template<typename T>
-        typename std::enable_if<
-            std::is_enum<T>::value
-        , std::string>::type convertUnstreamable( T const& value ) {
-            return convertUnknownEnumToString( value );
-        }
-
-#if defined(_MANAGED)
-        //! Convert a CLR string to a utf8 std::string
-        template<typename T>
-        std::string clrReferenceToString( T^ ref ) {
-            if (ref == nullptr)
-                return std::string("null");
-            auto bytes = System::Text::Encoding::UTF8->GetBytes(ref->ToString());
-            cli::pin_ptr<System::Byte> p = &bytes[0];
-            return std::string(reinterpret_cast<char const *>(p), bytes->Length);
-        }
-#endif
-
-    } // namespace Detail
-
-    // If we decide for C++14, change these to enable_if_ts
-    template <typename T, typename = void>
-    struct StringMaker {
-        template <typename Fake = T>
-        static
-        typename std::enable_if<::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
-            convert(const Fake& value) {
-                ReusableStringStream rss;
-                // NB: call using the function-like syntax to avoid ambiguity with
-                // user-defined templated operator<< under clang.
-                rss.operator<<(value);
-                return rss.str();
-        }
-
-        template <typename Fake = T>
-        static
-        typename std::enable_if<!::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
-            convert( const Fake& value ) {
-#if !defined(CATCH_CONFIG_FALLBACK_STRINGIFIER)
-            return Detail::convertUnstreamable(value);
-#else
-            return CATCH_CONFIG_FALLBACK_STRINGIFIER(value);
-#endif
-        }
-    };
-
-    namespace Detail {
-
-        // This function dispatches all stringification requests inside of Catch.
-        // Should be preferably called fully qualified, like ::Catch::Detail::stringify
-        template <typename T>
-        std::string stringify(const T& e) {
-            return ::Catch::StringMaker<typename std::remove_cv<typename std::remove_reference<T>::type>::type>::convert(e);
-        }
-
-        template<typename E>
-        std::string convertUnknownEnumToString( E e ) {
-            return ::Catch::Detail::stringify(static_cast<typename std::underlying_type<E>::type>(e));
-        }
-
-#if defined(_MANAGED)
-        template <typename T>
-        std::string stringify( T^ e ) {
-            return ::Catch::StringMaker<T^>::convert(e);
-        }
-#endif
-
-    } // namespace Detail
-
-    // Some predefined specializations
-
-    template<>
-    struct StringMaker<std::string> {
-        static std::string convert(const std::string& str);
-    };
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-    template<>
-    struct StringMaker<std::string_view> {
-        static std::string convert(std::string_view str);
-    };
-#endif
-
-    template<>
-    struct StringMaker<char const *> {
-        static std::string convert(char const * str);
-    };
-    template<>
-    struct StringMaker<char *> {
-        static std::string convert(char * str);
-    };
-
-#ifdef CATCH_CONFIG_WCHAR
-    template<>
-    struct StringMaker<std::wstring> {
-        static std::string convert(const std::wstring& wstr);
-    };
-
-# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-    template<>
-    struct StringMaker<std::wstring_view> {
-        static std::string convert(std::wstring_view str);
-    };
-# endif
-
-    template<>
-    struct StringMaker<wchar_t const *> {
-        static std::string convert(wchar_t const * str);
-    };
-    template<>
-    struct StringMaker<wchar_t *> {
-        static std::string convert(wchar_t * str);
-    };
-#endif
-
-    // TBD: Should we use `strnlen` to ensure that we don't go out of the buffer,
-    //      while keeping string semantics?
-    template<int SZ>
-    struct StringMaker<char[SZ]> {
-        static std::string convert(char const* str) {
-            return ::Catch::Detail::stringify(std::string{ str });
-        }
-    };
-    template<int SZ>
-    struct StringMaker<signed char[SZ]> {
-        static std::string convert(signed char const* str) {
-            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
-        }
-    };
-    template<int SZ>
-    struct StringMaker<unsigned char[SZ]> {
-        static std::string convert(unsigned char const* str) {
-            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
-        }
-    };
-
-    template<>
-    struct StringMaker<int> {
-        static std::string convert(int value);
-    };
-    template<>
-    struct StringMaker<long> {
-        static std::string convert(long value);
-    };
-    template<>
-    struct StringMaker<long long> {
-        static std::string convert(long long value);
-    };
-    template<>
-    struct StringMaker<unsigned int> {
-        static std::string convert(unsigned int value);
-    };
-    template<>
-    struct StringMaker<unsigned long> {
-        static std::string convert(unsigned long value);
-    };
-    template<>
-    struct StringMaker<unsigned long long> {
-        static std::string convert(unsigned long long value);
-    };
-
-    template<>
-    struct StringMaker<bool> {
-        static std::string convert(bool b);
-    };
-
-    template<>
-    struct StringMaker<char> {
-        static std::string convert(char c);
-    };
-    template<>
-    struct StringMaker<signed char> {
-        static std::string convert(signed char c);
-    };
-    template<>
-    struct StringMaker<unsigned char> {
-        static std::string convert(unsigned char c);
-    };
-
-    template<>
-    struct StringMaker<std::nullptr_t> {
-        static std::string convert(std::nullptr_t);
-    };
-
-    template<>
-    struct StringMaker<float> {
-        static std::string convert(float value);
-    };
-    template<>
-    struct StringMaker<double> {
-        static std::string convert(double value);
-    };
-
-    template <typename T>
-    struct StringMaker<T*> {
-        template <typename U>
-        static std::string convert(U* p) {
-            if (p) {
-                return ::Catch::Detail::rawMemoryToString(p);
-            } else {
-                return "nullptr";
-            }
-        }
-    };
-
-    template <typename R, typename C>
-    struct StringMaker<R C::*> {
-        static std::string convert(R C::* p) {
-            if (p) {
-                return ::Catch::Detail::rawMemoryToString(p);
-            } else {
-                return "nullptr";
-            }
-        }
-    };
-
-#if defined(_MANAGED)
-    template <typename T>
-    struct StringMaker<T^> {
-        static std::string convert( T^ ref ) {
-            return ::Catch::Detail::clrReferenceToString(ref);
-        }
-    };
-#endif
-
-    namespace Detail {
-        template<typename InputIterator>
-        std::string rangeToString(InputIterator first, InputIterator last) {
-            ReusableStringStream rss;
-            rss << "{ ";
-            if (first != last) {
-                rss << ::Catch::Detail::stringify(*first);
-                for (++first; first != last; ++first)
-                    rss << ", " << ::Catch::Detail::stringify(*first);
-            }
-            rss << " }";
-            return rss.str();
-        }
-    }
-
-#ifdef __OBJC__
-    template<>
-    struct StringMaker<NSString*> {
-        static std::string convert(NSString * nsstring) {
-            if (!nsstring)
-                return "nil";
-            return std::string("@") + [nsstring UTF8String];
-        }
-    };
-    template<>
-    struct StringMaker<NSObject*> {
-        static std::string convert(NSObject* nsObject) {
-            return ::Catch::Detail::stringify([nsObject description]);
-        }
-
-    };
-    namespace Detail {
-        inline std::string stringify( NSString* nsstring ) {
-            return StringMaker<NSString*>::convert( nsstring );
-        }
-
-    } // namespace Detail
-#endif // __OBJC__
-
-} // namespace Catch
-
-//////////////////////////////////////////////////////
-// Separate std-lib types stringification, so it can be selectively enabled
-// This means that we do not bring in
-
-#if defined(CATCH_CONFIG_ENABLE_ALL_STRINGMAKERS)
-#  define CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#endif
-
-// Separate std::pair specialization
-#if defined(CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER)
-#include <utility>
-namespace Catch {
-    template<typename T1, typename T2>
-    struct StringMaker<std::pair<T1, T2> > {
-        static std::string convert(const std::pair<T1, T2>& pair) {
-            ReusableStringStream rss;
-            rss << "{ "
-                << ::Catch::Detail::stringify(pair.first)
-                << ", "
-                << ::Catch::Detail::stringify(pair.second)
-                << " }";
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
-
-// Separate std::tuple specialization
-#if defined(CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER)
-#include <tuple>
-namespace Catch {
-    namespace Detail {
-        template<
-            typename Tuple,
-            std::size_t N = 0,
-            bool = (N < std::tuple_size<Tuple>::value)
-            >
-            struct TupleElementPrinter {
-            static void print(const Tuple& tuple, std::ostream& os) {
-                os << (N ? ", " : " ")
-                    << ::Catch::Detail::stringify(std::get<N>(tuple));
-                TupleElementPrinter<Tuple, N + 1>::print(tuple, os);
-            }
-        };
-
-        template<
-            typename Tuple,
-            std::size_t N
-        >
-            struct TupleElementPrinter<Tuple, N, false> {
-            static void print(const Tuple&, std::ostream&) {}
-        };
-
-    }
-
-    template<typename ...Types>
-    struct StringMaker<std::tuple<Types...>> {
-        static std::string convert(const std::tuple<Types...>& tuple) {
-            ReusableStringStream rss;
-            rss << '{';
-            Detail::TupleElementPrinter<std::tuple<Types...>>::print(tuple, rss.get());
-            rss << " }";
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
-
-#if defined(CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_VARIANT)
-#include <variant>
-namespace Catch {
-    template<>
-    struct StringMaker<std::monostate> {
-        static std::string convert(const std::monostate&) {
-            return "{ }";
-        }
-    };
-
-    template<typename... Elements>
-    struct StringMaker<std::variant<Elements...>> {
-        static std::string convert(const std::variant<Elements...>& variant) {
-            if (variant.valueless_by_exception()) {
-                return "{valueless variant}";
-            } else {
-                return std::visit(
-                    [](const auto& value) {
-                        return ::Catch::Detail::stringify(value);
-                    },
-                    variant
-                );
-            }
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
-
-namespace Catch {
-    struct not_this_one {}; // Tag type for detecting which begin/ end are being selected
-
-    // Import begin/ end from std here so they are considered alongside the fallback (...) overloads in this namespace
-    using std::begin;
-    using std::end;
-
-    not_this_one begin( ... );
-    not_this_one end( ... );
-
-    template <typename T>
-    struct is_range {
-        static const bool value =
-            !std::is_same<decltype(begin(std::declval<T>())), not_this_one>::value &&
-            !std::is_same<decltype(end(std::declval<T>())), not_this_one>::value;
-    };
-
-#if defined(_MANAGED) // Managed types are never ranges
-    template <typename T>
-    struct is_range<T^> {
-        static const bool value = false;
-    };
-#endif
-
-    template<typename Range>
-    std::string rangeToString( Range const& range ) {
-        return ::Catch::Detail::rangeToString( begin( range ), end( range ) );
-    }
-
-    // Handle vector<bool> specially
-    template<typename Allocator>
-    std::string rangeToString( std::vector<bool, Allocator> const& v ) {
-        ReusableStringStream rss;
-        rss << "{ ";
-        bool first = true;
-        for( bool b : v ) {
-            if( first )
-                first = false;
-            else
-                rss << ", ";
-            rss << ::Catch::Detail::stringify( b );
-        }
-        rss << " }";
-        return rss.str();
-    }
-
-    template<typename R>
-    struct StringMaker<R, typename std::enable_if<is_range<R>::value && !::Catch::Detail::IsStreamInsertable<R>::value>::type> {
-        static std::string convert( R const& range ) {
-            return rangeToString( range );
-        }
-    };
-
-    template <typename T, int SZ>
-    struct StringMaker<T[SZ]> {
-        static std::string convert(T const(&arr)[SZ]) {
-            return rangeToString(arr);
-        }
-    };
-
-} // namespace Catch
-
-// Separate std::chrono::duration specialization
-#if defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#include <ctime>
-#include <ratio>
-#include <chrono>
-
-namespace Catch {
-
-template <class Ratio>
-struct ratio_string {
-    static std::string symbol();
-};
-
-template <class Ratio>
-std::string ratio_string<Ratio>::symbol() {
-    Catch::ReusableStringStream rss;
-    rss << '[' << Ratio::num << '/'
-        << Ratio::den << ']';
-    return rss.str();
-}
-template <>
-struct ratio_string<std::atto> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::femto> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::pico> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::nano> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::micro> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::milli> {
-    static std::string symbol();
-};
-
-    ////////////
-    // std::chrono::duration specializations
-    template<typename Value, typename Ratio>
-    struct StringMaker<std::chrono::duration<Value, Ratio>> {
-        static std::string convert(std::chrono::duration<Value, Ratio> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << ' ' << ratio_string<Ratio>::symbol() << 's';
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<1>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<1>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " s";
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<60>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<60>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " m";
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<3600>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<3600>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " h";
-            return rss.str();
-        }
-    };
-
-    ////////////
-    // std::chrono::time_point specialization
-    // Generic time_point cannot be specialized, only std::chrono::time_point<system_clock>
-    template<typename Clock, typename Duration>
-    struct StringMaker<std::chrono::time_point<Clock, Duration>> {
-        static std::string convert(std::chrono::time_point<Clock, Duration> const& time_point) {
-            return ::Catch::Detail::stringify(time_point.time_since_epoch()) + " since epoch";
-        }
-    };
-    // std::chrono::time_point<system_clock> specialization
-    template<typename Duration>
-    struct StringMaker<std::chrono::time_point<std::chrono::system_clock, Duration>> {
-        static std::string convert(std::chrono::time_point<std::chrono::system_clock, Duration> const& time_point) {
-            auto converted = std::chrono::system_clock::to_time_t(time_point);
-
-#ifdef _MSC_VER
-            std::tm timeInfo = {};
-            gmtime_s(&timeInfo, &converted);
-#else
-            std::tm* timeInfo = std::gmtime(&converted);
-#endif
-
-            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
-            char timeStamp[timeStampSize];
-            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
-
-#ifdef _MSC_VER
-            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
-#else
-            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
-#endif
-            return std::string(timeStamp);
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-// end catch_tostring.h
-#include <iosfwd>
-
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4389) // '==' : signed/unsigned mismatch
-#pragma warning(disable:4018) // more "signed/unsigned mismatch"
-#pragma warning(disable:4312) // Converting int to T* using reinterpret_cast (issue on x64 platform)
-#pragma warning(disable:4180) // qualifier applied to function type has no meaning
-#endif
-
-namespace Catch {
-
-    struct ITransientExpression {
-        auto isBinaryExpression() const -> bool { return m_isBinaryExpression; }
-        auto getResult() const -> bool { return m_result; }
-        virtual void streamReconstructedExpression( std::ostream &os ) const = 0;
-
-        ITransientExpression( bool isBinaryExpression, bool result )
-        :   m_isBinaryExpression( isBinaryExpression ),
-            m_result( result )
-        {}
-
-        // We don't actually need a virtual destructor, but many static analysers
-        // complain if it's not here :-(
-        virtual ~ITransientExpression();
-
-        bool m_isBinaryExpression;
-        bool m_result;
-
-    };
-
-    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs );
-
-    template<typename LhsT, typename RhsT>
-    class BinaryExpr  : public ITransientExpression {
-        LhsT m_lhs;
-        StringRef m_op;
-        RhsT m_rhs;
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            formatReconstructedExpression
-                    ( os, Catch::Detail::stringify( m_lhs ), m_op, Catch::Detail::stringify( m_rhs ) );
-        }
-
-    public:
-        BinaryExpr( bool comparisonResult, LhsT lhs, StringRef op, RhsT rhs )
-        :   ITransientExpression{ true, comparisonResult },
-            m_lhs( lhs ),
-            m_op( op ),
-            m_rhs( rhs )
-        {}
-    };
-
-    template<typename LhsT>
-    class UnaryExpr : public ITransientExpression {
-        LhsT m_lhs;
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            os << Catch::Detail::stringify( m_lhs );
-        }
-
-    public:
-        explicit UnaryExpr( LhsT lhs )
-        :   ITransientExpression{ false, lhs ? true : false },
-            m_lhs( lhs )
-        {}
-    };
-
-    // Specialised comparison functions to handle equality comparisons between ints and pointers (NULL deduces as an int)
-    template<typename LhsT, typename RhsT>
-    auto compareEqual( LhsT const& lhs, RhsT const& rhs ) -> bool { return static_cast<bool>(lhs == rhs); }
-    template<typename T>
-    auto compareEqual( T* const& lhs, int rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareEqual( T* const& lhs, long rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
-    template<typename T>
-    auto compareEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
-
-    template<typename LhsT, typename RhsT>
-    auto compareNotEqual( LhsT const& lhs, RhsT&& rhs ) -> bool { return static_cast<bool>(lhs != rhs); }
-    template<typename T>
-    auto compareNotEqual( T* const& lhs, int rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareNotEqual( T* const& lhs, long rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareNotEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
-    template<typename T>
-    auto compareNotEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
-
-    template<typename LhsT>
-    class ExprLhs {
-        LhsT m_lhs;
-    public:
-        explicit ExprLhs( LhsT lhs ) : m_lhs( lhs ) {}
-
-        template<typename RhsT>
-        auto operator == ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { compareEqual( m_lhs, rhs ), m_lhs, "==", rhs };
-        }
-        auto operator == ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
-            return { m_lhs == rhs, m_lhs, "==", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator != ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { compareNotEqual( m_lhs, rhs ), m_lhs, "!=", rhs };
-        }
-        auto operator != ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
-            return { m_lhs != rhs, m_lhs, "!=", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator > ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs > rhs), m_lhs, ">", rhs };
-        }
-        template<typename RhsT>
-        auto operator < ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs < rhs), m_lhs, "<", rhs };
-        }
-        template<typename RhsT>
-        auto operator >= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs >= rhs), m_lhs, ">=", rhs };
-        }
-        template<typename RhsT>
-        auto operator <= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs <= rhs), m_lhs, "<=", rhs };
-        }
-
-        auto makeUnaryExpr() const -> UnaryExpr<LhsT> {
-            return UnaryExpr<LhsT>{ m_lhs };
-        }
-    };
-
-    void handleExpression( ITransientExpression const& expr );
-
-    template<typename T>
-    void handleExpression( ExprLhs<T> const& expr ) {
-        handleExpression( expr.makeUnaryExpr() );
-    }
-
-    struct Decomposer {
-        template<typename T>
-        auto operator <= ( T const& lhs ) -> ExprLhs<T const&> {
-            return ExprLhs<T const&>{ lhs };
-        }
-
-        auto operator <=( bool value ) -> ExprLhs<bool> {
-            return ExprLhs<bool>{ value };
-        }
-    };
-
-} // end namespace Catch
-
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-// end catch_decomposer.h
-// start catch_interfaces_capture.h
-
-#include <string>
-
-namespace Catch {
-
-    class AssertionResult;
-    struct AssertionInfo;
-    struct SectionInfo;
-    struct SectionEndInfo;
-    struct MessageInfo;
-    struct Counts;
-    struct BenchmarkInfo;
-    struct BenchmarkStats;
-    struct AssertionReaction;
-    struct SourceLineInfo;
-
-    struct ITransientExpression;
-    struct IGeneratorTracker;
-
-    struct IResultCapture {
-
-        virtual ~IResultCapture();
-
-        virtual bool sectionStarted(    SectionInfo const& sectionInfo,
-                                        Counts& assertions ) = 0;
-        virtual void sectionEnded( SectionEndInfo const& endInfo ) = 0;
-        virtual void sectionEndedEarly( SectionEndInfo const& endInfo ) = 0;
-
-        virtual auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& = 0;
-
-        virtual void benchmarkStarting( BenchmarkInfo const& info ) = 0;
-        virtual void benchmarkEnded( BenchmarkStats const& stats ) = 0;
-
-        virtual void pushScopedMessage( MessageInfo const& message ) = 0;
-        virtual void popScopedMessage( MessageInfo const& message ) = 0;
-
-        virtual void handleFatalErrorCondition( StringRef message ) = 0;
-
-        virtual void handleExpr
-                (   AssertionInfo const& info,
-                    ITransientExpression const& expr,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleMessage
-                (   AssertionInfo const& info,
-                    ResultWas::OfType resultType,
-                    StringRef const& message,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleUnexpectedExceptionNotThrown
-                (   AssertionInfo const& info,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleUnexpectedInflightException
-                (   AssertionInfo const& info,
-                    std::string const& message,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleIncomplete
-                (   AssertionInfo const& info ) = 0;
-        virtual void handleNonExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    AssertionReaction &reaction ) = 0;
-
-        virtual bool lastAssertionPassed() = 0;
-        virtual void assertionPassed() = 0;
-
-        // Deprecated, do not use:
-        virtual std::string getCurrentTestName() const = 0;
-        virtual const AssertionResult* getLastResult() const = 0;
-        virtual void exceptionEarlyReported() = 0;
-    };
-
-    IResultCapture& getResultCapture();
-}
-
-// end catch_interfaces_capture.h
-namespace Catch {
-
-    struct TestFailureException{};
-    struct AssertionResultData;
-    struct IResultCapture;
-    class RunContext;
-
-    class LazyExpression {
-        friend class AssertionHandler;
-        friend struct AssertionStats;
-        friend class RunContext;
-
-        ITransientExpression const* m_transientExpression = nullptr;
-        bool m_isNegated;
-    public:
-        LazyExpression( bool isNegated );
-        LazyExpression( LazyExpression const& other );
-        LazyExpression& operator = ( LazyExpression const& ) = delete;
-
-        explicit operator bool() const;
-
-        friend auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream&;
-    };
-
-    struct AssertionReaction {
-        bool shouldDebugBreak = false;
-        bool shouldThrow = false;
-    };
-
-    class AssertionHandler {
-        AssertionInfo m_assertionInfo;
-        AssertionReaction m_reaction;
-        bool m_completed = false;
-        IResultCapture& m_resultCapture;
-
-    public:
-        AssertionHandler
-            (   StringRef const& macroName,
-                SourceLineInfo const& lineInfo,
-                StringRef capturedExpression,
-                ResultDisposition::Flags resultDisposition );
-        ~AssertionHandler() {
-            if ( !m_completed ) {
-                m_resultCapture.handleIncomplete( m_assertionInfo );
-            }
-        }
-
-        template<typename T>
-        void handleExpr( ExprLhs<T> const& expr ) {
-            handleExpr( expr.makeUnaryExpr() );
-        }
-        void handleExpr( ITransientExpression const& expr );
-
-        void handleMessage(ResultWas::OfType resultType, StringRef const& message);
-
-        void handleExceptionThrownAsExpected();
-        void handleUnexpectedExceptionNotThrown();
-        void handleExceptionNotThrownAsExpected();
-        void handleThrowingCallSkipped();
-        void handleUnexpectedInflightException();
-
-        void complete();
-        void setCompleted();
-
-        // query
-        auto allowThrows() const -> bool;
-    };
-
-    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString );
-
-} // namespace Catch
-
-// end catch_assertionhandler.h
-// start catch_message.h
-
-#include <string>
-#include <vector>
-
-namespace Catch {
-
-    struct MessageInfo {
-        MessageInfo(    StringRef const& _macroName,
-                        SourceLineInfo const& _lineInfo,
-                        ResultWas::OfType _type );
-
-        StringRef macroName;
-        std::string message;
-        SourceLineInfo lineInfo;
-        ResultWas::OfType type;
-        unsigned int sequence;
-
-        bool operator == ( MessageInfo const& other ) const;
-        bool operator < ( MessageInfo const& other ) const;
-    private:
-        static unsigned int globalCount;
-    };
-
-    struct MessageStream {
-
-        template<typename T>
-        MessageStream& operator << ( T const& value ) {
-            m_stream << value;
-            return *this;
-        }
-
-        ReusableStringStream m_stream;
-    };
-
-    struct MessageBuilder : MessageStream {
-        MessageBuilder( StringRef const& macroName,
-                        SourceLineInfo const& lineInfo,
-                        ResultWas::OfType type );
-
-        template<typename T>
-        MessageBuilder& operator << ( T const& value ) {
-            m_stream << value;
-            return *this;
-        }
-
-        MessageInfo m_info;
-    };
-
-    class ScopedMessage {
-    public:
-        explicit ScopedMessage( MessageBuilder const& builder );
-        ~ScopedMessage();
-
-        MessageInfo m_info;
-    };
-
-    class Capturer {
-        std::vector<MessageInfo> m_messages;
-        IResultCapture& m_resultCapture = getResultCapture();
-        size_t m_captured = 0;
-    public:
-        Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names );
-        ~Capturer();
-
-        void captureValue( size_t index, std::string const& value );
-
-        template<typename T>
-        void captureValues( size_t index, T const& value ) {
-            captureValue( index, Catch::Detail::stringify( value ) );
-        }
-
-        template<typename T, typename... Ts>
-        void captureValues( size_t index, T const& value, Ts const&... values ) {
-            captureValue( index, Catch::Detail::stringify(value) );
-            captureValues( index+1, values... );
-        }
-    };
-
-} // end namespace Catch
-
-// end catch_message.h
-#if !defined(CATCH_CONFIG_DISABLE)
-
-#if !defined(CATCH_CONFIG_DISABLE_STRINGIFICATION)
-  #define CATCH_INTERNAL_STRINGIFY(...) #__VA_ARGS__
-#else
-  #define CATCH_INTERNAL_STRINGIFY(...) "Disabled by CATCH_CONFIG_DISABLE_STRINGIFICATION"
-#endif
-
-#if defined(CATCH_CONFIG_FAST_COMPILE) || defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-
-///////////////////////////////////////////////////////////////////////////////
-// Another way to speed-up compilation is to omit local try-catch for REQUIRE*
-// macros.
-#define INTERNAL_CATCH_TRY
-#define INTERNAL_CATCH_CATCH( capturer )
-
-#else // CATCH_CONFIG_FAST_COMPILE
-
-#define INTERNAL_CATCH_TRY try
-#define INTERNAL_CATCH_CATCH( handler ) catch(...) { handler.handleUnexpectedInflightException(); }
-
-#endif
-
-#define INTERNAL_CATCH_REACT( handler ) handler.complete();
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_TEST( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
-        INTERNAL_CATCH_TRY { \
-            CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
-            catchAssertionHandler.handleExpr( Catch::Decomposer() <= __VA_ARGS__ ); \
-            CATCH_INTERNAL_UNSUPPRESS_PARENTHESES_WARNINGS \
-        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( (void)0, false && static_cast<bool>( !!(__VA_ARGS__) ) ) // the expression here is never evaluated at runtime but it forces the compiler to give it a look
-    // The double negation silences MSVC's C4800 warning, the static_cast forces short-circuit evaluation if the type has overloaded &&.
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_IF( macroName, resultDisposition, ... ) \
-    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
-    if( Catch::getResultCapture().lastAssertionPassed() )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_ELSE( macroName, resultDisposition, ... ) \
-    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
-    if( !Catch::getResultCapture().lastAssertionPassed() )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_NO_THROW( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
-        try { \
-            static_cast<void>(__VA_ARGS__); \
-            catchAssertionHandler.handleExceptionNotThrownAsExpected(); \
-        } \
-        catch( ... ) { \
-            catchAssertionHandler.handleUnexpectedInflightException(); \
-        } \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleExceptionThrownAsExpected(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS_AS( macroName, exceptionType, resultDisposition, expr ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr) ", " CATCH_INTERNAL_STRINGIFY(exceptionType), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(expr); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( exceptionType const& ) { \
-                catchAssertionHandler.handleExceptionThrownAsExpected(); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleUnexpectedInflightException(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_MSG( macroName, messageType, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::StringRef(), resultDisposition ); \
-        catchAssertionHandler.handleMessage( messageType, ( Catch::MessageStream() << __VA_ARGS__ + ::Catch::StreamEndStop() ).m_stream.str() ); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_CAPTURE( varName, macroName, ... ) \
-    auto varName = Catch::Capturer( macroName, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info, #__VA_ARGS__ ); \
-    varName.captureValues( 0, __VA_ARGS__ )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_INFO( macroName, log ) \
-    Catch::ScopedMessage INTERNAL_CATCH_UNIQUE_NAME( scopedMessage )( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log );
-
-///////////////////////////////////////////////////////////////////////////////
-// Although this is matcher-based, it can be used with just a string
-#define INTERNAL_CATCH_THROWS_STR_MATCHES( macroName, resultDisposition, matcher, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( ... ) { \
-                Catch::handleExceptionMatchExpr( catchAssertionHandler, matcher, #matcher##_catch_sr ); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-#endif // CATCH_CONFIG_DISABLE
-
-// end catch_capture.hpp
-// start catch_section.h
-
-// start catch_section_info.h
-
-// start catch_totals.h
-
-#include <cstddef>
-
-namespace Catch {
-
-    struct Counts {
-        Counts operator - ( Counts const& other ) const;
-        Counts& operator += ( Counts const& other );
-
-        std::size_t total() const;
-        bool allPassed() const;
-        bool allOk() const;
-
-        std::size_t passed = 0;
-        std::size_t failed = 0;
-        std::size_t failedButOk = 0;
-    };
-
-    struct Totals {
-
-        Totals operator - ( Totals const& other ) const;
-        Totals& operator += ( Totals const& other );
-
-        Totals delta( Totals const& prevTotals ) const;
-
-        int error = 0;
-        Counts assertions;
-        Counts testCases;
-    };
-}
-
-// end catch_totals.h
-#include <string>
-
-namespace Catch {
-
-    struct SectionInfo {
-        SectionInfo
-            (   SourceLineInfo const& _lineInfo,
-                std::string const& _name );
-
-        // Deprecated
-        SectionInfo
-            (   SourceLineInfo const& _lineInfo,
-                std::string const& _name,
-                std::string const& ) : SectionInfo( _lineInfo, _name ) {}
-
-        std::string name;
-        std::string description; // !Deprecated: this will always be empty
-        SourceLineInfo lineInfo;
-    };
-
-    struct SectionEndInfo {
-        SectionInfo sectionInfo;
-        Counts prevAssertions;
-        double durationInSeconds;
-    };
-
-} // end namespace Catch
-
-// end catch_section_info.h
-// start catch_timer.h
-
-#include <cstdint>
-
-namespace Catch {
-
-    auto getCurrentNanosecondsSinceEpoch() -> uint64_t;
-    auto getEstimatedClockResolution() -> uint64_t;
-
-    class Timer {
-        uint64_t m_nanoseconds = 0;
-    public:
-        void start();
-        auto getElapsedNanoseconds() const -> uint64_t;
-        auto getElapsedMicroseconds() const -> uint64_t;
-        auto getElapsedMilliseconds() const -> unsigned int;
-        auto getElapsedSeconds() const -> double;
-    };
-
-} // namespace Catch
-
-// end catch_timer.h
-#include <string>
-
-namespace Catch {
-
-    class Section : NonCopyable {
-    public:
-        Section( SectionInfo const& info );
-        ~Section();
-
-        // This indicates whether the section should be executed or not
-        explicit operator bool() const;
-
-    private:
-        SectionInfo m_info;
-
-        std::string m_name;
-        Counts m_assertions;
-        bool m_sectionIncluded;
-        Timer m_timer;
-    };
-
-} // end namespace Catch
-
-#define INTERNAL_CATCH_SECTION( ... ) \
-    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, __VA_ARGS__ ) ) \
-    CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS
-
-#define INTERNAL_CATCH_DYNAMIC_SECTION( ... ) \
-    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, (Catch::ReusableStringStream() << __VA_ARGS__).str() ) ) \
-    CATCH_INTERNAL_UNSUPPRESS_UNUSED_WARNINGS
-
-// end catch_section.h
-// start catch_benchmark.h
-
-#include <cstdint>
-#include <string>
-
-namespace Catch {
-
-    class BenchmarkLooper {
-
-        std::string m_name;
-        std::size_t m_count = 0;
-        std::size_t m_iterationsToRun = 1;
-        uint64_t m_resolution;
-        Timer m_timer;
-
-        static auto getResolution() -> uint64_t;
-    public:
-        // Keep most of this inline as it's on the code path that is being timed
-        BenchmarkLooper( StringRef name )
-        :   m_name( name ),
-            m_resolution( getResolution() )
-        {
-            reportStart();
-            m_timer.start();
-        }
-
-        explicit operator bool() {
-            if( m_count < m_iterationsToRun )
-                return true;
-            return needsMoreIterations();
-        }
-
-        void increment() {
-            ++m_count;
-        }
-
-        void reportStart();
-        auto needsMoreIterations() -> bool;
-    };
-
-} // end namespace Catch
-
-#define BENCHMARK( name ) \
-    for( Catch::BenchmarkLooper looper( name ); looper; looper.increment() )
-
-// end catch_benchmark.h
-// start catch_interfaces_exception.h
-
-// start catch_interfaces_registry_hub.h
-
-#include <string>
-#include <memory>
-
-namespace Catch {
-
-    class TestCase;
-    struct ITestCaseRegistry;
-    struct IExceptionTranslatorRegistry;
-    struct IExceptionTranslator;
-    struct IReporterRegistry;
-    struct IReporterFactory;
-    struct ITagAliasRegistry;
-    class StartupExceptionRegistry;
-
-    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
-
-    struct IRegistryHub {
-        virtual ~IRegistryHub();
-
-        virtual IReporterRegistry const& getReporterRegistry() const = 0;
-        virtual ITestCaseRegistry const& getTestCaseRegistry() const = 0;
-        virtual ITagAliasRegistry const& getTagAliasRegistry() const = 0;
-
-        virtual IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const = 0;
-
-        virtual StartupExceptionRegistry const& getStartupExceptionRegistry() const = 0;
-    };
-
-    struct IMutableRegistryHub {
-        virtual ~IMutableRegistryHub();
-        virtual void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) = 0;
-        virtual void registerListener( IReporterFactoryPtr const& factory ) = 0;
-        virtual void registerTest( TestCase const& testInfo ) = 0;
-        virtual void registerTranslator( const IExceptionTranslator* translator ) = 0;
-        virtual void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) = 0;
-        virtual void registerStartupException() noexcept = 0;
-    };
-
-    IRegistryHub const& getRegistryHub();
-    IMutableRegistryHub& getMutableRegistryHub();
-    void cleanUp();
-    std::string translateActiveException();
-
-}
-
-// end catch_interfaces_registry_hub.h
-#if defined(CATCH_CONFIG_DISABLE)
-    #define INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( translatorName, signature) \
-        static std::string translatorName( signature )
-#endif
-
-#include <exception>
-#include <string>
-#include <vector>
-
-namespace Catch {
-    using exceptionTranslateFunction = std::string(*)();
-
-    struct IExceptionTranslator;
-    using ExceptionTranslators = std::vector<std::unique_ptr<IExceptionTranslator const>>;
-
-    struct IExceptionTranslator {
-        virtual ~IExceptionTranslator();
-        virtual std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const = 0;
-    };
-
-    struct IExceptionTranslatorRegistry {
-        virtual ~IExceptionTranslatorRegistry();
-
-        virtual std::string translateActiveException() const = 0;
-    };
-
-    class ExceptionTranslatorRegistrar {
-        template<typename T>
-        class ExceptionTranslator : public IExceptionTranslator {
-        public:
-
-            ExceptionTranslator( std::string(*translateFunction)( T& ) )
-            : m_translateFunction( translateFunction )
-            {}
-
-            std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const override {
-                try {
-                    if( it == itEnd )
-                        std::rethrow_exception(std::current_exception());
-                    else
-                        return (*it)->translate( it+1, itEnd );
-                }
-                catch( T& ex ) {
-                    return m_translateFunction( ex );
-                }
-            }
-
-        protected:
-            std::string(*m_translateFunction)( T& );
-        };
-
-    public:
-        template<typename T>
-        ExceptionTranslatorRegistrar( std::string(*translateFunction)( T& ) ) {
-            getMutableRegistryHub().registerTranslator
-                ( new ExceptionTranslator<T>( translateFunction ) );
-        }
-    };
-}
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_TRANSLATE_EXCEPTION2( translatorName, signature ) \
-    static std::string translatorName( signature ); \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-    namespace{ Catch::ExceptionTranslatorRegistrar INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionRegistrar )( &translatorName ); } \
-    CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS \
-    static std::string translatorName( signature )
-
-#define INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION2( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
-
-// end catch_interfaces_exception.h
-// start catch_approx.h
-
-#include <type_traits>
-
-namespace Catch {
-namespace Detail {
-
-    class Approx {
-    private:
-        bool equalityComparisonImpl(double other) const;
-        // Validates the new margin (margin >= 0)
-        // out-of-line to avoid including stdexcept in the header
-        void setMargin(double margin);
-        // Validates the new epsilon (0 < epsilon < 1)
-        // out-of-line to avoid including stdexcept in the header
-        void setEpsilon(double epsilon);
-
-    public:
-        explicit Approx ( double value );
-
-        static Approx custom();
-
-        Approx operator-() const;
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx operator()( T const& value ) {
-            Approx approx( static_cast<double>(value) );
-            approx.m_epsilon = m_epsilon;
-            approx.m_margin = m_margin;
-            approx.m_scale = m_scale;
-            return approx;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        explicit Approx( T const& value ): Approx(static_cast<double>(value))
-        {}
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator == ( const T& lhs, Approx const& rhs ) {
-            auto lhs_v = static_cast<double>(lhs);
-            return rhs.equalityComparisonImpl(lhs_v);
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator == ( Approx const& lhs, const T& rhs ) {
-            return operator==( rhs, lhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator != ( T const& lhs, Approx const& rhs ) {
-            return !operator==( lhs, rhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator != ( Approx const& lhs, T const& rhs ) {
-            return !operator==( rhs, lhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator <= ( T const& lhs, Approx const& rhs ) {
-            return static_cast<double>(lhs) < rhs.m_value || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator <= ( Approx const& lhs, T const& rhs ) {
-            return lhs.m_value < static_cast<double>(rhs) || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator >= ( T const& lhs, Approx const& rhs ) {
-            return static_cast<double>(lhs) > rhs.m_value || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator >= ( Approx const& lhs, T const& rhs ) {
-            return lhs.m_value > static_cast<double>(rhs) || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& epsilon( T const& newEpsilon ) {
-            double epsilonAsDouble = static_cast<double>(newEpsilon);
-            setEpsilon(epsilonAsDouble);
-            return *this;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& margin( T const& newMargin ) {
-            double marginAsDouble = static_cast<double>(newMargin);
-            setMargin(marginAsDouble);
-            return *this;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& scale( T const& newScale ) {
-            m_scale = static_cast<double>(newScale);
-            return *this;
-        }
-
-        std::string toString() const;
-
-    private:
-        double m_epsilon;
-        double m_margin;
-        double m_scale;
-        double m_value;
-    };
-} // end namespace Detail
-
-namespace literals {
-    Detail::Approx operator "" _a(long double val);
-    Detail::Approx operator "" _a(unsigned long long val);
-} // end namespace literals
-
-template<>
-struct StringMaker<Catch::Detail::Approx> {
-    static std::string convert(Catch::Detail::Approx const& value);
-};
-
-} // end namespace Catch
-
-// end catch_approx.h
-// start catch_string_manip.h
-
-#include <string>
-#include <iosfwd>
-
-namespace Catch {
-
-    bool startsWith( std::string const& s, std::string const& prefix );
-    bool startsWith( std::string const& s, char prefix );
-    bool endsWith( std::string const& s, std::string const& suffix );
-    bool endsWith( std::string const& s, char suffix );
-    bool contains( std::string const& s, std::string const& infix );
-    void toLowerInPlace( std::string& s );
-    std::string toLower( std::string const& s );
-    std::string trim( std::string const& str );
-    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis );
-
-    struct pluralise {
-        pluralise( std::size_t count, std::string const& label );
-
-        friend std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser );
-
-        std::size_t m_count;
-        std::string m_label;
-    };
-}
-
-// end catch_string_manip.h
-#ifndef CATCH_CONFIG_DISABLE_MATCHERS
-// start catch_capture_matchers.h
-
-// start catch_matchers.h
-
-#include <string>
-#include <vector>
-
-namespace Catch {
-namespace Matchers {
-    namespace Impl {
-
-        template<typename ArgT> struct MatchAllOf;
-        template<typename ArgT> struct MatchAnyOf;
-        template<typename ArgT> struct MatchNotOf;
-
-        class MatcherUntypedBase {
-        public:
-            MatcherUntypedBase() = default;
-            MatcherUntypedBase ( MatcherUntypedBase const& ) = default;
-            MatcherUntypedBase& operator = ( MatcherUntypedBase const& ) = delete;
-            std::string toString() const;
-
-        protected:
-            virtual ~MatcherUntypedBase();
-            virtual std::string describe() const = 0;
-            mutable std::string m_cachedToString;
-        };
-
-#ifdef __clang__
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wnon-virtual-dtor"
-#endif
-
-        template<typename ObjectT>
-        struct MatcherMethod {
-            virtual bool match( ObjectT const& arg ) const = 0;
-        };
-
-#ifdef __clang__
-#    pragma clang diagnostic pop
-#endif
-
-        template<typename T>
-        struct MatcherBase : MatcherUntypedBase, MatcherMethod<T> {
-
-            MatchAllOf<T> operator && ( MatcherBase const& other ) const;
-            MatchAnyOf<T> operator || ( MatcherBase const& other ) const;
-            MatchNotOf<T> operator ! () const;
-        };
-
-        template<typename ArgT>
-        struct MatchAllOf : MatcherBase<ArgT> {
-            bool match( ArgT const& arg ) const override {
-                for( auto matcher : m_matchers ) {
-                    if (!matcher->match(arg))
-                        return false;
-                }
-                return true;
-            }
-            std::string describe() const override {
-                std::string description;
-                description.reserve( 4 + m_matchers.size()*32 );
-                description += "( ";
-                bool first = true;
-                for( auto matcher : m_matchers ) {
-                    if( first )
-                        first = false;
-                    else
-                        description += " and ";
-                    description += matcher->toString();
-                }
-                description += " )";
-                return description;
-            }
-
-            MatchAllOf<ArgT>& operator && ( MatcherBase<ArgT> const& other ) {
-                m_matchers.push_back( &other );
-                return *this;
-            }
-
-            std::vector<MatcherBase<ArgT> const*> m_matchers;
-        };
-        template<typename ArgT>
-        struct MatchAnyOf : MatcherBase<ArgT> {
-
-            bool match( ArgT const& arg ) const override {
-                for( auto matcher : m_matchers ) {
-                    if (matcher->match(arg))
-                        return true;
-                }
-                return false;
-            }
-            std::string describe() const override {
-                std::string description;
-                description.reserve( 4 + m_matchers.size()*32 );
-                description += "( ";
-                bool first = true;
-                for( auto matcher : m_matchers ) {
-                    if( first )
-                        first = false;
-                    else
-                        description += " or ";
-                    description += matcher->toString();
-                }
-                description += " )";
-                return description;
-            }
-
-            MatchAnyOf<ArgT>& operator || ( MatcherBase<ArgT> const& other ) {
-                m_matchers.push_back( &other );
-                return *this;
-            }
-
-            std::vector<MatcherBase<ArgT> const*> m_matchers;
-        };
-
-        template<typename ArgT>
-        struct MatchNotOf : MatcherBase<ArgT> {
-
-            MatchNotOf( MatcherBase<ArgT> const& underlyingMatcher ) : m_underlyingMatcher( underlyingMatcher ) {}
-
-            bool match( ArgT const& arg ) const override {
-                return !m_underlyingMatcher.match( arg );
-            }
-
-            std::string describe() const override {
-                return "not " + m_underlyingMatcher.toString();
-            }
-            MatcherBase<ArgT> const& m_underlyingMatcher;
-        };
-
-        template<typename T>
-        MatchAllOf<T> MatcherBase<T>::operator && ( MatcherBase const& other ) const {
-            return MatchAllOf<T>() && *this && other;
-        }
-        template<typename T>
-        MatchAnyOf<T> MatcherBase<T>::operator || ( MatcherBase const& other ) const {
-            return MatchAnyOf<T>() || *this || other;
-        }
-        template<typename T>
-        MatchNotOf<T> MatcherBase<T>::operator ! () const {
-            return MatchNotOf<T>( *this );
-        }
-
-    } // namespace Impl
-
-} // namespace Matchers
-
-using namespace Matchers;
-using Matchers::Impl::MatcherBase;
-
-} // namespace Catch
-
-// end catch_matchers.h
-// start catch_matchers_floating.h
-
-#include <type_traits>
-#include <cmath>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace Floating {
-
-        enum class FloatingPointKind : uint8_t;
-
-        struct WithinAbsMatcher : MatcherBase<double> {
-            WithinAbsMatcher(double target, double margin);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            double m_margin;
-        };
-
-        struct WithinUlpsMatcher : MatcherBase<double> {
-            WithinUlpsMatcher(double target, int ulps, FloatingPointKind baseType);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            int m_ulps;
-            FloatingPointKind m_type;
-        };
-
-    } // namespace Floating
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-    Floating::WithinUlpsMatcher WithinULP(double target, int maxUlpDiff);
-    Floating::WithinUlpsMatcher WithinULP(float target, int maxUlpDiff);
-    Floating::WithinAbsMatcher WithinAbs(double target, double margin);
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_floating.h
-// start catch_matchers_generic.hpp
-
-#include <functional>
-#include <string>
-
-namespace Catch {
-namespace Matchers {
-namespace Generic {
-
-namespace Detail {
-    std::string finalizeDescription(const std::string& desc);
-}
-
-template <typename T>
-class PredicateMatcher : public MatcherBase<T> {
-    std::function<bool(T const&)> m_predicate;
-    std::string m_description;
-public:
-
-    PredicateMatcher(std::function<bool(T const&)> const& elem, std::string const& descr)
-        :m_predicate(std::move(elem)),
-        m_description(Detail::finalizeDescription(descr))
-    {}
-
-    bool match( T const& item ) const override {
-        return m_predicate(item);
-    }
-
-    std::string describe() const override {
-        return m_description;
-    }
-};
-
-} // namespace Generic
-
-    // The following functions create the actual matcher objects.
-    // The user has to explicitly specify type to the function, because
-    // infering std::function<bool(T const&)> is hard (but possible) and
-    // requires a lot of TMP.
-    template<typename T>
-    Generic::PredicateMatcher<T> Predicate(std::function<bool(T const&)> const& predicate, std::string const& description = "") {
-        return Generic::PredicateMatcher<T>(predicate, description);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_generic.hpp
-// start catch_matchers_string.h
-
-#include <string>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace StdString {
-
-        struct CasedString
-        {
-            CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity );
-            std::string adjustString( std::string const& str ) const;
-            std::string caseSensitivitySuffix() const;
-
-            CaseSensitive::Choice m_caseSensitivity;
-            std::string m_str;
-        };
-
-        struct StringMatcherBase : MatcherBase<std::string> {
-            StringMatcherBase( std::string const& operation, CasedString const& comparator );
-            std::string describe() const override;
-
-            CasedString m_comparator;
-            std::string m_operation;
-        };
-
-        struct EqualsMatcher : StringMatcherBase {
-            EqualsMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct ContainsMatcher : StringMatcherBase {
-            ContainsMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct StartsWithMatcher : StringMatcherBase {
-            StartsWithMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct EndsWithMatcher : StringMatcherBase {
-            EndsWithMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-
-        struct RegexMatcher : MatcherBase<std::string> {
-            RegexMatcher( std::string regex, CaseSensitive::Choice caseSensitivity );
-            bool match( std::string const& matchee ) const override;
-            std::string describe() const override;
-
-        private:
-            std::string m_regex;
-            CaseSensitive::Choice m_caseSensitivity;
-        };
-
-    } // namespace StdString
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-
-    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::RegexMatcher Matches( std::string const& regex, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_string.h
-// start catch_matchers_vector.h
-
-#include <algorithm>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace Vector {
-        namespace Detail {
-            template <typename InputIterator, typename T>
-            size_t count(InputIterator first, InputIterator last, T const& item) {
-                size_t cnt = 0;
-                for (; first != last; ++first) {
-                    if (*first == item) {
-                        ++cnt;
-                    }
-                }
-                return cnt;
-            }
-            template <typename InputIterator, typename T>
-            bool contains(InputIterator first, InputIterator last, T const& item) {
-                for (; first != last; ++first) {
-                    if (*first == item) {
-                        return true;
-                    }
-                }
-                return false;
-            }
-        }
-
-        template<typename T>
-        struct ContainsElementMatcher : MatcherBase<std::vector<T>> {
-
-            ContainsElementMatcher(T const &comparator) : m_comparator( comparator) {}
-
-            bool match(std::vector<T> const &v) const override {
-                for (auto const& el : v) {
-                    if (el == m_comparator) {
-                        return true;
-                    }
-                }
-                return false;
-            }
-
-            std::string describe() const override {
-                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
-            }
-
-            T const& m_comparator;
-        };
-
-        template<typename T>
-        struct ContainsMatcher : MatcherBase<std::vector<T>> {
-
-            ContainsMatcher(std::vector<T> const &comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T> const &v) const override {
-                // !TBD: see note in EqualsMatcher
-                if (m_comparator.size() > v.size())
-                    return false;
-                for (auto const& comparator : m_comparator) {
-                    auto present = false;
-                    for (const auto& el : v) {
-                        if (el == comparator) {
-                            present = true;
-                            break;
-                        }
-                    }
-                    if (!present) {
-                        return false;
-                    }
-                }
-                return true;
-            }
-            std::string describe() const override {
-                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
-            }
-
-            std::vector<T> const& m_comparator;
-        };
-
-        template<typename T>
-        struct EqualsMatcher : MatcherBase<std::vector<T>> {
-
-            EqualsMatcher(std::vector<T> const &comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T> const &v) const override {
-                // !TBD: This currently works if all elements can be compared using !=
-                // - a more general approach would be via a compare template that defaults
-                // to using !=. but could be specialised for, e.g. std::vector<T> etc
-                // - then just call that directly
-                if (m_comparator.size() != v.size())
-                    return false;
-                for (std::size_t i = 0; i < v.size(); ++i)
-                    if (m_comparator[i] != v[i])
-                        return false;
-                return true;
-            }
-            std::string describe() const override {
-                return "Equals: " + ::Catch::Detail::stringify( m_comparator );
-            }
-            std::vector<T> const& m_comparator;
-        };
-
-        template<typename T>
-        struct UnorderedEqualsMatcher : MatcherBase<std::vector<T>> {
-            UnorderedEqualsMatcher(std::vector<T> const& target) : m_target(target) {}
-            bool match(std::vector<T> const& vec) const override {
-                // Note: This is a reimplementation of std::is_permutation,
-                //       because I don't want to include <algorithm> inside the common path
-                if (m_target.size() != vec.size()) {
-                    return false;
-                }
-                auto lfirst = m_target.begin(), llast = m_target.end();
-                auto rfirst = vec.begin(), rlast = vec.end();
-                // Cut common prefix to optimize checking of permuted parts
-                while (lfirst != llast && *lfirst == *rfirst) {
-                    ++lfirst; ++rfirst;
-                }
-                if (lfirst == llast) {
-                    return true;
-                }
-
-                for (auto mid = lfirst; mid != llast; ++mid) {
-                    // Skip already counted items
-                    if (Detail::contains(lfirst, mid, *mid)) {
-                        continue;
-                    }
-                    size_t num_vec = Detail::count(rfirst, rlast, *mid);
-                    if (num_vec == 0 || Detail::count(lfirst, llast, *mid) != num_vec) {
-                        return false;
-                    }
-                }
-
-                return true;
-            }
-
-            std::string describe() const override {
-                return "UnorderedEquals: " + ::Catch::Detail::stringify(m_target);
-            }
-        private:
-            std::vector<T> const& m_target;
-        };
-
-    } // namespace Vector
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-
-    template<typename T>
-    Vector::ContainsMatcher<T> Contains( std::vector<T> const& comparator ) {
-        return Vector::ContainsMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::ContainsElementMatcher<T> VectorContains( T const& comparator ) {
-        return Vector::ContainsElementMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::EqualsMatcher<T> Equals( std::vector<T> const& comparator ) {
-        return Vector::EqualsMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::UnorderedEqualsMatcher<T> UnorderedEquals(std::vector<T> const& target) {
-        return Vector::UnorderedEqualsMatcher<T>(target);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_vector.h
-namespace Catch {
-
-    template<typename ArgT, typename MatcherT>
-    class MatchExpr : public ITransientExpression {
-        ArgT const& m_arg;
-        MatcherT m_matcher;
-        StringRef m_matcherString;
-    public:
-        MatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString )
-        :   ITransientExpression{ true, matcher.match( arg ) },
-            m_arg( arg ),
-            m_matcher( matcher ),
-            m_matcherString( matcherString )
-        {}
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            auto matcherAsString = m_matcher.toString();
-            os << Catch::Detail::stringify( m_arg ) << ' ';
-            if( matcherAsString == Detail::unprintableString )
-                os << m_matcherString;
-            else
-                os << matcherAsString;
-        }
-    };
-
-    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
-
-    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  );
-
-    template<typename ArgT, typename MatcherT>
-    auto makeMatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString  ) -> MatchExpr<ArgT, MatcherT> {
-        return MatchExpr<ArgT, MatcherT>( arg, matcher, matcherString );
-    }
-
-} // namespace Catch
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CHECK_THAT( macroName, matcher, resultDisposition, arg ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(arg) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        INTERNAL_CATCH_TRY { \
-            catchAssertionHandler.handleExpr( Catch::makeMatchExpr( arg, matcher, #matcher##_catch_sr ) ); \
-        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS_MATCHES( macroName, exceptionType, resultDisposition, matcher, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(exceptionType) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__ ); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( exceptionType const& ex ) { \
-                catchAssertionHandler.handleExpr( Catch::makeMatchExpr( ex, matcher, #matcher##_catch_sr ) ); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleUnexpectedInflightException(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-// end catch_capture_matchers.h
-#endif
-// start catch_generators.hpp
-
-// start catch_interfaces_generatortracker.h
-
-
-#include <memory>
-
-namespace Catch {
-
-    namespace Generators {
-        class GeneratorBase {
-        protected:
-            size_t m_size = 0;
-
-        public:
-            GeneratorBase( size_t size ) : m_size( size ) {}
-            virtual ~GeneratorBase();
-            auto size() const -> size_t { return m_size; }
-        };
-        using GeneratorBasePtr = std::unique_ptr<GeneratorBase>;
-
-    } // namespace Generators
-
-    struct IGeneratorTracker {
-        virtual ~IGeneratorTracker();
-        virtual auto hasGenerator() const -> bool = 0;
-        virtual auto getGenerator() const -> Generators::GeneratorBasePtr const& = 0;
-        virtual void setGenerator( Generators::GeneratorBasePtr&& generator ) = 0;
-        virtual auto getIndex() const -> std::size_t = 0;
-    };
-
-} // namespace Catch
-
-// end catch_interfaces_generatortracker.h
-// start catch_enforce.h
-
-#include <stdexcept>
-
-namespace Catch {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    template <typename Ex>
-    [[noreturn]]
-    void throw_exception(Ex const& e) {
-        throw e;
-    }
-#else // ^^ Exceptions are enabled //  Exceptions are disabled vv
-    [[noreturn]]
-    void throw_exception(std::exception const& e);
-#endif
-} // namespace Catch;
-
-#define CATCH_PREPARE_EXCEPTION( type, msg ) \
-    type( ( Catch::ReusableStringStream() << msg ).str() )
-#define CATCH_INTERNAL_ERROR( msg ) \
-    Catch::throw_exception(CATCH_PREPARE_EXCEPTION( std::logic_error, CATCH_INTERNAL_LINEINFO << ": Internal Catch error: " << msg))
-#define CATCH_ERROR( msg ) \
-    Catch::throw_exception(CATCH_PREPARE_EXCEPTION( std::domain_error, msg ))
-#define CATCH_RUNTIME_ERROR( msg ) \
-    Catch::throw_exception(CATCH_PREPARE_EXCEPTION( std::runtime_error, msg ))
-#define CATCH_ENFORCE( condition, msg ) \
-    do{ if( !(condition) ) CATCH_ERROR( msg ); } while(false)
-
-// end catch_enforce.h
-#include <memory>
-#include <vector>
-#include <cassert>
-
-#include <utility>
-
-namespace Catch {
-namespace Generators {
-
-    // !TBD move this into its own location?
-    namespace pf{
-        template<typename T, typename... Args>
-        std::unique_ptr<T> make_unique( Args&&... args ) {
-            return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
-        }
-    }
-
-    template<typename T>
-    struct IGenerator {
-        virtual ~IGenerator() {}
-        virtual auto get( size_t index ) const -> T = 0;
-    };
-
-    template<typename T>
-    class SingleValueGenerator : public IGenerator<T> {
-        T m_value;
-    public:
-        SingleValueGenerator( T const& value ) : m_value( value ) {}
-
-        auto get( size_t ) const -> T override {
-            return m_value;
-        }
-    };
-
-    template<typename T>
-    class FixedValuesGenerator : public IGenerator<T> {
-        std::vector<T> m_values;
-
-    public:
-        FixedValuesGenerator( std::initializer_list<T> values ) : m_values( values ) {}
-
-        auto get( size_t index ) const -> T override {
-            return m_values[index];
-        }
-    };
-
-    template<typename T>
-    class RangeGenerator : public IGenerator<T> {
-        T const m_first;
-        T const m_last;
-
-    public:
-        RangeGenerator( T const& first, T const& last ) : m_first( first ), m_last( last ) {
-            assert( m_last > m_first );
-        }
-
-        auto get( size_t index ) const -> T override {
-            // ToDo:: introduce a safe cast to catch potential overflows
-            return static_cast<T>(m_first+index);
-        }
-    };
-
-    template<typename T>
-    struct NullGenerator : IGenerator<T> {
-        auto get( size_t ) const -> T override {
-            CATCH_INTERNAL_ERROR("A Null Generator is always empty");
-        }
-    };
-
-    template<typename T>
-    class Generator {
-        std::unique_ptr<IGenerator<T>> m_generator;
-        size_t m_size;
-
-    public:
-        Generator( size_t size, std::unique_ptr<IGenerator<T>> generator )
-        :   m_generator( std::move( generator ) ),
-            m_size( size )
-        {}
-
-        auto size() const -> size_t { return m_size; }
-        auto operator[]( size_t index ) const -> T {
-            assert( index < m_size );
-            return m_generator->get( index );
-        }
-    };
-
-    std::vector<size_t> randomiseIndices( size_t selectionSize, size_t sourceSize );
-
-    template<typename T>
-    class GeneratorRandomiser : public IGenerator<T> {
-        Generator<T> m_baseGenerator;
-
-        std::vector<size_t> m_indices;
-    public:
-        GeneratorRandomiser( Generator<T>&& baseGenerator, size_t numberOfItems )
-        :   m_baseGenerator( std::move( baseGenerator ) ),
-            m_indices( randomiseIndices( numberOfItems, m_baseGenerator.size() ) )
-        {}
-
-        auto get( size_t index ) const -> T override {
-            return m_baseGenerator[m_indices[index]];
-        }
-    };
-
-    template<typename T>
-    struct RequiresASpecialisationFor;
-
-    template<typename T>
-    auto all() -> Generator<T> { return RequiresASpecialisationFor<T>(); }
-
-    template<>
-    auto all<int>() -> Generator<int>;
-
-    template<typename T>
-    auto range( T const& first, T const& last ) -> Generator<T> {
-        return Generator<T>( (last-first), pf::make_unique<RangeGenerator<T>>( first, last ) );
-    }
-
-    template<typename T>
-    auto random( T const& first, T const& last ) -> Generator<T> {
-        auto gen = range( first, last );
-        auto size = gen.size();
-
-        return Generator<T>( size, pf::make_unique<GeneratorRandomiser<T>>( std::move( gen ), size ) );
-    }
-    template<typename T>
-    auto random( size_t size ) -> Generator<T> {
-        return Generator<T>( size, pf::make_unique<GeneratorRandomiser<T>>( all<T>(), size ) );
-    }
-
-    template<typename T>
-    auto values( std::initializer_list<T> values ) -> Generator<T> {
-        return Generator<T>( values.size(), pf::make_unique<FixedValuesGenerator<T>>( values ) );
-    }
-    template<typename T>
-    auto value( T const& val ) -> Generator<T> {
-        return Generator<T>( 1, pf::make_unique<SingleValueGenerator<T>>( val ) );
-    }
-
-    template<typename T>
-    auto as() -> Generator<T> {
-        return Generator<T>( 0, pf::make_unique<NullGenerator<T>>() );
-    }
-
-    template<typename... Ts>
-    auto table( std::initializer_list<std::tuple<Ts...>>&& tuples ) -> Generator<std::tuple<Ts...>> {
-        return values<std::tuple<Ts...>>( std::forward<std::initializer_list<std::tuple<Ts...>>>( tuples ) );
-    }
-
-    template<typename T>
-    struct Generators : GeneratorBase {
-        std::vector<Generator<T>> m_generators;
-
-        using type = T;
-
-        Generators() : GeneratorBase( 0 ) {}
-
-        void populate( T&& val ) {
-            m_size += 1;
-            m_generators.emplace_back( value( std::move( val ) ) );
-        }
-        template<typename U>
-        void populate( U&& val ) {
-            populate( T( std::move( val ) ) );
-        }
-        void populate( Generator<T>&& generator ) {
-            m_size += generator.size();
-            m_generators.emplace_back( std::move( generator ) );
-        }
-
-        template<typename U, typename... Gs>
-        void populate( U&& valueOrGenerator, Gs... moreGenerators ) {
-            populate( std::forward<U>( valueOrGenerator ) );
-            populate( std::forward<Gs>( moreGenerators )... );
-        }
-
-        auto operator[]( size_t index ) const -> T {
-            size_t sizes = 0;
-            for( auto const& gen : m_generators ) {
-                auto localIndex = index-sizes;
-                sizes += gen.size();
-                if( index < sizes )
-                    return gen[localIndex];
-            }
-            CATCH_INTERNAL_ERROR("Index '" << index << "' is out of range (" << sizes << ')');
-        }
-    };
-
-    template<typename T, typename... Gs>
-    auto makeGenerators( Generator<T>&& generator, Gs... moreGenerators ) -> Generators<T> {
-        Generators<T> generators;
-        generators.m_generators.reserve( 1+sizeof...(Gs) );
-        generators.populate( std::move( generator ), std::forward<Gs>( moreGenerators )... );
-        return generators;
-    }
-    template<typename T>
-    auto makeGenerators( Generator<T>&& generator ) -> Generators<T> {
-        Generators<T> generators;
-        generators.populate( std::move( generator ) );
-        return generators;
-    }
-    template<typename T, typename... Gs>
-    auto makeGenerators( T&& val, Gs... moreGenerators ) -> Generators<T> {
-        return makeGenerators( value( std::forward<T>( val ) ), std::forward<Gs>( moreGenerators )... );
-    }
-    template<typename T, typename U, typename... Gs>
-    auto makeGenerators( U&& val, Gs... moreGenerators ) -> Generators<T> {
-        return makeGenerators( value( T( std::forward<U>( val ) ) ), std::forward<Gs>( moreGenerators )... );
-    }
-
-    auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker&;
-
-    template<typename L>
-    // Note: The type after -> is weird, because VS2015 cannot parse
-    //       the expression used in the typedef inside, when it is in
-    //       return type. Yeah, ¯\_(ツ)_/¯
-    auto generate( SourceLineInfo const& lineInfo, L const& generatorExpression ) -> decltype(std::declval<decltype(generatorExpression())>()[0]) {
-        using UnderlyingType = typename decltype(generatorExpression())::type;
-
-        IGeneratorTracker& tracker = acquireGeneratorTracker( lineInfo );
-        if( !tracker.hasGenerator() )
-            tracker.setGenerator( pf::make_unique<Generators<UnderlyingType>>( generatorExpression() ) );
-
-        auto const& generator = static_cast<Generators<UnderlyingType> const&>( *tracker.getGenerator() );
-        return generator[tracker.getIndex()];
-    }
-
-} // namespace Generators
-} // namespace Catch
-
-#define GENERATE( ... ) \
-    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, []{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } )
-
-// end catch_generators.hpp
-
-// These files are included here so the single_include script doesn't put them
-// in the conditionally compiled sections
-// start catch_test_case_info.h
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct ITestInvoker;
-
-    struct TestCaseInfo {
-        enum SpecialProperties{
-            None = 0,
-            IsHidden = 1 << 1,
-            ShouldFail = 1 << 2,
-            MayFail = 1 << 3,
-            Throws = 1 << 4,
-            NonPortable = 1 << 5,
-            Benchmark = 1 << 6
-        };
-
-        TestCaseInfo(   std::string const& _name,
-                        std::string const& _className,
-                        std::string const& _description,
-                        std::vector<std::string> const& _tags,
-                        SourceLineInfo const& _lineInfo );
-
-        friend void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags );
-
-        bool isHidden() const;
-        bool throws() const;
-        bool okToFail() const;
-        bool expectedToFail() const;
-
-        std::string tagsAsString() const;
-
-        std::string name;
-        std::string className;
-        std::string description;
-        std::vector<std::string> tags;
-        std::vector<std::string> lcaseTags;
-        SourceLineInfo lineInfo;
-        SpecialProperties properties;
-    };
-
-    class TestCase : public TestCaseInfo {
-    public:
-
-        TestCase( ITestInvoker* testCase, TestCaseInfo&& info );
-
-        TestCase withName( std::string const& _newName ) const;
-
-        void invoke() const;
-
-        TestCaseInfo const& getTestCaseInfo() const;
-
-        bool operator == ( TestCase const& other ) const;
-        bool operator < ( TestCase const& other ) const;
-
-    private:
-        std::shared_ptr<ITestInvoker> test;
-    };
-
-    TestCase makeTestCase(  ITestInvoker* testCase,
-                            std::string const& className,
-                            NameAndTags const& nameAndTags,
-                            SourceLineInfo const& lineInfo );
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_case_info.h
-// start catch_interfaces_runner.h
-
-namespace Catch {
-
-    struct IRunner {
-        virtual ~IRunner();
-        virtual bool aborting() const = 0;
-    };
-}
-
-// end catch_interfaces_runner.h
-
-#ifdef __OBJC__
-// start catch_objc.hpp
-
-#import <objc/runtime.h>
-
-#include <string>
-
-// NB. Any general catch headers included here must be included
-// in catch.hpp first to make sure they are included by the single
-// header for non obj-usage
-
-///////////////////////////////////////////////////////////////////////////////
-// This protocol is really only here for (self) documenting purposes, since
-// all its methods are optional.
-@protocol OcFixture
-
-@optional
-
--(void) setUp;
--(void) tearDown;
-
-@end
-
-namespace Catch {
-
-    class OcMethod : public ITestInvoker {
-
-    public:
-        OcMethod( Class cls, SEL sel ) : m_cls( cls ), m_sel( sel ) {}
-
-        virtual void invoke() const {
-            id obj = [[m_cls alloc] init];
-
-            performOptionalSelector( obj, @selector(setUp)  );
-            performOptionalSelector( obj, m_sel );
-            performOptionalSelector( obj, @selector(tearDown)  );
-
-            arcSafeRelease( obj );
-        }
-    private:
-        virtual ~OcMethod() {}
-
-        Class m_cls;
-        SEL m_sel;
-    };
-
-    namespace Detail{
-
-        inline std::string getAnnotation(   Class cls,
-                                            std::string const& annotationName,
-                                            std::string const& testCaseName ) {
-            NSString* selStr = [[NSString alloc] initWithFormat:@"Catch_%s_%s", annotationName.c_str(), testCaseName.c_str()];
-            SEL sel = NSSelectorFromString( selStr );
-            arcSafeRelease( selStr );
-            id value = performOptionalSelector( cls, sel );
-            if( value )
-                return [(NSString*)value UTF8String];
-            return "";
-        }
-    }
-
-    inline std::size_t registerTestMethods() {
-        std::size_t noTestMethods = 0;
-        int noClasses = objc_getClassList( nullptr, 0 );
-
-        Class* classes = (CATCH_UNSAFE_UNRETAINED Class *)malloc( sizeof(Class) * noClasses);
-        objc_getClassList( classes, noClasses );
-
-        for( int c = 0; c < noClasses; c++ ) {
-            Class cls = classes[c];
-            {
-                u_int count;
-                Method* methods = class_copyMethodList( cls, &count );
-                for( u_int m = 0; m < count ; m++ ) {
-                    SEL selector = method_getName(methods[m]);
-                    std::string methodName = sel_getName(selector);
-                    if( startsWith( methodName, "Catch_TestCase_" ) ) {
-                        std::string testCaseName = methodName.substr( 15 );
-                        std::string name = Detail::getAnnotation( cls, "Name", testCaseName );
-                        std::string desc = Detail::getAnnotation( cls, "Description", testCaseName );
-                        const char* className = class_getName( cls );
-
-                        getMutableRegistryHub().registerTest( makeTestCase( new OcMethod( cls, selector ), className, NameAndTags( name.c_str(), desc.c_str() ), SourceLineInfo("",0) ) );
-                        noTestMethods++;
-                    }
-                }
-                free(methods);
-            }
-        }
-        return noTestMethods;
-    }
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-
-    namespace Matchers {
-        namespace Impl {
-        namespace NSStringMatchers {
-
-            struct StringHolder : MatcherBase<NSString*>{
-                StringHolder( NSString* substr ) : m_substr( [substr copy] ){}
-                StringHolder( StringHolder const& other ) : m_substr( [other.m_substr copy] ){}
-                StringHolder() {
-                    arcSafeRelease( m_substr );
-                }
-
-                bool match( NSString* arg ) const override {
-                    return false;
-                }
-
-                NSString* CATCH_ARC_STRONG m_substr;
-            };
-
-            struct Equals : StringHolder {
-                Equals( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str isEqualToString:m_substr];
-                }
-
-                std::string describe() const override {
-                    return "equals string: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-            struct Contains : StringHolder {
-                Contains( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location != NSNotFound;
-                }
-
-                std::string describe() const override {
-                    return "contains string: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-            struct StartsWith : StringHolder {
-                StartsWith( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location == 0;
-                }
-
-                std::string describe() const override {
-                    return "starts with: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-            struct EndsWith : StringHolder {
-                EndsWith( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location == [str length] - [m_substr length];
-                }
-
-                std::string describe() const override {
-                    return "ends with: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-        } // namespace NSStringMatchers
-        } // namespace Impl
-
-        inline Impl::NSStringMatchers::Equals
-            Equals( NSString* substr ){ return Impl::NSStringMatchers::Equals( substr ); }
-
-        inline Impl::NSStringMatchers::Contains
-            Contains( NSString* substr ){ return Impl::NSStringMatchers::Contains( substr ); }
-
-        inline Impl::NSStringMatchers::StartsWith
-            StartsWith( NSString* substr ){ return Impl::NSStringMatchers::StartsWith( substr ); }
-
-        inline Impl::NSStringMatchers::EndsWith
-            EndsWith( NSString* substr ){ return Impl::NSStringMatchers::EndsWith( substr ); }
-
-    } // namespace Matchers
-
-    using namespace Matchers;
-
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-} // namespace Catch
-
-///////////////////////////////////////////////////////////////////////////////
-#define OC_MAKE_UNIQUE_NAME( root, uniqueSuffix ) root##uniqueSuffix
-#define OC_TEST_CASE2( name, desc, uniqueSuffix ) \
-+(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Name_test_, uniqueSuffix ) \
-{ \
-return @ name; \
-} \
-+(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Description_test_, uniqueSuffix ) \
-{ \
-return @ desc; \
-} \
--(void) OC_MAKE_UNIQUE_NAME( Catch_TestCase_test_, uniqueSuffix )
-
-#define OC_TEST_CASE( name, desc ) OC_TEST_CASE2( name, desc, __LINE__ )
-
-// end catch_objc.hpp
-#endif
-
-#ifdef CATCH_CONFIG_EXTERNAL_INTERFACES
-// start catch_external_interfaces.h
-
-// start catch_reporter_bases.hpp
-
-// start catch_interfaces_reporter.h
-
-// start catch_config.hpp
-
-// start catch_test_spec_parser.h
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-// start catch_test_spec.h
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-// start catch_wildcard_pattern.h
-
-namespace Catch
-{
-    class WildcardPattern {
-        enum WildcardPosition {
-            NoWildcard = 0,
-            WildcardAtStart = 1,
-            WildcardAtEnd = 2,
-            WildcardAtBothEnds = WildcardAtStart | WildcardAtEnd
-        };
-
-    public:
-
-        WildcardPattern( std::string const& pattern, CaseSensitive::Choice caseSensitivity );
-        virtual ~WildcardPattern() = default;
-        virtual bool matches( std::string const& str ) const;
-
-    private:
-        std::string adjustCase( std::string const& str ) const;
-        CaseSensitive::Choice m_caseSensitivity;
-        WildcardPosition m_wildcard = NoWildcard;
-        std::string m_pattern;
-    };
-}
-
-// end catch_wildcard_pattern.h
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    class TestSpec {
-        struct Pattern {
-            virtual ~Pattern();
-            virtual bool matches( TestCaseInfo const& testCase ) const = 0;
-        };
-        using PatternPtr = std::shared_ptr<Pattern>;
-
-        class NamePattern : public Pattern {
-        public:
-            NamePattern( std::string const& name );
-            virtual ~NamePattern();
-            virtual bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            WildcardPattern m_wildcardPattern;
-        };
-
-        class TagPattern : public Pattern {
-        public:
-            TagPattern( std::string const& tag );
-            virtual ~TagPattern();
-            virtual bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            std::string m_tag;
-        };
-
-        class ExcludedPattern : public Pattern {
-        public:
-            ExcludedPattern( PatternPtr const& underlyingPattern );
-            virtual ~ExcludedPattern();
-            virtual bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            PatternPtr m_underlyingPattern;
-        };
-
-        struct Filter {
-            std::vector<PatternPtr> m_patterns;
-
-            bool matches( TestCaseInfo const& testCase ) const;
-        };
-
-    public:
-        bool hasFilters() const;
-        bool matches( TestCaseInfo const& testCase ) const;
-
-    private:
-        std::vector<Filter> m_filters;
-
-        friend class TestSpecParser;
-    };
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_spec.h
-// start catch_interfaces_tag_alias_registry.h
-
-#include <string>
-
-namespace Catch {
-
-    struct TagAlias;
-
-    struct ITagAliasRegistry {
-        virtual ~ITagAliasRegistry();
-        // Nullptr if not present
-        virtual TagAlias const* find( std::string const& alias ) const = 0;
-        virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const = 0;
-
-        static ITagAliasRegistry const& get();
-    };
-
-} // end namespace Catch
-
-// end catch_interfaces_tag_alias_registry.h
-namespace Catch {
-
-    class TestSpecParser {
-        enum Mode{ None, Name, QuotedName, Tag, EscapedName };
-        Mode m_mode = None;
-        bool m_exclusion = false;
-        std::size_t m_start = std::string::npos, m_pos = 0;
-        std::string m_arg;
-        std::vector<std::size_t> m_escapeChars;
-        TestSpec::Filter m_currentFilter;
-        TestSpec m_testSpec;
-        ITagAliasRegistry const* m_tagAliases = nullptr;
-
-    public:
-        TestSpecParser( ITagAliasRegistry const& tagAliases );
-
-        TestSpecParser& parse( std::string const& arg );
-        TestSpec testSpec();
-
-    private:
-        void visitChar( char c );
-        void startNewMode( Mode mode, std::size_t start );
-        void escape();
-        std::string subString() const;
-
-        template<typename T>
-        void addPattern() {
-            std::string token = subString();
-            for( std::size_t i = 0; i < m_escapeChars.size(); ++i )
-                token = token.substr( 0, m_escapeChars[i]-m_start-i ) + token.substr( m_escapeChars[i]-m_start-i+1 );
-            m_escapeChars.clear();
-            if( startsWith( token, "exclude:" ) ) {
-                m_exclusion = true;
-                token = token.substr( 8 );
-            }
-            if( !token.empty() ) {
-                TestSpec::PatternPtr pattern = std::make_shared<T>( token );
-                if( m_exclusion )
-                    pattern = std::make_shared<TestSpec::ExcludedPattern>( pattern );
-                m_currentFilter.m_patterns.push_back( pattern );
-            }
-            m_exclusion = false;
-            m_mode = None;
-        }
-
-        void addFilter();
-    };
-    TestSpec parseTestSpec( std::string const& arg );
-
-} // namespace Catch
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_spec_parser.h
-// start catch_interfaces_config.h
-
-#include <iosfwd>
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    enum class Verbosity {
-        Quiet = 0,
-        Normal,
-        High
-    };
-
-    struct WarnAbout { enum What {
-        Nothing = 0x00,
-        NoAssertions = 0x01,
-        NoTests = 0x02
-    }; };
-
-    struct ShowDurations { enum OrNot {
-        DefaultForReporter,
-        Always,
-        Never
-    }; };
-    struct RunTests { enum InWhatOrder {
-        InDeclarationOrder,
-        InLexicographicalOrder,
-        InRandomOrder
-    }; };
-    struct UseColour { enum YesOrNo {
-        Auto,
-        Yes,
-        No
-    }; };
-    struct WaitForKeypress { enum When {
-        Never,
-        BeforeStart = 1,
-        BeforeExit = 2,
-        BeforeStartAndExit = BeforeStart | BeforeExit
-    }; };
-
-    class TestSpec;
-
-    struct IConfig : NonCopyable {
-
-        virtual ~IConfig();
-
-        virtual bool allowThrows() const = 0;
-        virtual std::ostream& stream() const = 0;
-        virtual std::string name() const = 0;
-        virtual bool includeSuccessfulResults() const = 0;
-        virtual bool shouldDebugBreak() const = 0;
-        virtual bool warnAboutMissingAssertions() const = 0;
-        virtual bool warnAboutNoTests() const = 0;
-        virtual int abortAfter() const = 0;
-        virtual bool showInvisibles() const = 0;
-        virtual ShowDurations::OrNot showDurations() const = 0;
-        virtual TestSpec const& testSpec() const = 0;
-        virtual bool hasTestFilters() const = 0;
-        virtual RunTests::InWhatOrder runOrder() const = 0;
-        virtual unsigned int rngSeed() const = 0;
-        virtual int benchmarkResolutionMultiple() const = 0;
-        virtual UseColour::YesOrNo useColour() const = 0;
-        virtual std::vector<std::string> const& getSectionsToRun() const = 0;
-        virtual Verbosity verbosity() const = 0;
-    };
-
-    using IConfigPtr = std::shared_ptr<IConfig const>;
-}
-
-// end catch_interfaces_config.h
-// Libstdc++ doesn't like incomplete classes for unique_ptr
-
-#include <memory>
-#include <vector>
-#include <string>
-
-#ifndef CATCH_CONFIG_CONSOLE_WIDTH
-#define CATCH_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-namespace Catch {
-
-    struct IStream;
-
-    struct ConfigData {
-        bool listTests = false;
-        bool listTags = false;
-        bool listReporters = false;
-        bool listTestNamesOnly = false;
-
-        bool showSuccessfulTests = false;
-        bool shouldDebugBreak = false;
-        bool noThrow = false;
-        bool showHelp = false;
-        bool showInvisibles = false;
-        bool filenamesAsTags = false;
-        bool libIdentify = false;
-
-        int abortAfter = -1;
-        unsigned int rngSeed = 0;
-        int benchmarkResolutionMultiple = 100;
-
-        Verbosity verbosity = Verbosity::Normal;
-        WarnAbout::What warnings = WarnAbout::Nothing;
-        ShowDurations::OrNot showDurations = ShowDurations::DefaultForReporter;
-        RunTests::InWhatOrder runOrder = RunTests::InDeclarationOrder;
-        UseColour::YesOrNo useColour = UseColour::Auto;
-        WaitForKeypress::When waitForKeypress = WaitForKeypress::Never;
-
-        std::string outputFilename;
-        std::string name;
-        std::string processName;
-#ifndef CATCH_CONFIG_DEFAULT_REPORTER
-#define CATCH_CONFIG_DEFAULT_REPORTER "console"
-#endif
-        std::string reporterName = CATCH_CONFIG_DEFAULT_REPORTER;
-#undef CATCH_CONFIG_DEFAULT_REPORTER
-
-        std::vector<std::string> testsOrTags;
-        std::vector<std::string> sectionsToRun;
-    };
-
-    class Config : public IConfig {
-    public:
-
-        Config() = default;
-        Config( ConfigData const& data );
-        virtual ~Config() = default;
-
-        std::string const& getFilename() const;
-
-        bool listTests() const;
-        bool listTestNamesOnly() const;
-        bool listTags() const;
-        bool listReporters() const;
-
-        std::string getProcessName() const;
-        std::string const& getReporterName() const;
-
-        std::vector<std::string> const& getTestsOrTags() const;
-        std::vector<std::string> const& getSectionsToRun() const override;
-
-        virtual TestSpec const& testSpec() const override;
-        bool hasTestFilters() const override;
-
-        bool showHelp() const;
-
-        // IConfig interface
-        bool allowThrows() const override;
-        std::ostream& stream() const override;
-        std::string name() const override;
-        bool includeSuccessfulResults() const override;
-        bool warnAboutMissingAssertions() const override;
-        bool warnAboutNoTests() const override;
-        ShowDurations::OrNot showDurations() const override;
-        RunTests::InWhatOrder runOrder() const override;
-        unsigned int rngSeed() const override;
-        int benchmarkResolutionMultiple() const override;
-        UseColour::YesOrNo useColour() const override;
-        bool shouldDebugBreak() const override;
-        int abortAfter() const override;
-        bool showInvisibles() const override;
-        Verbosity verbosity() const override;
-
-    private:
-
-        IStream const* openStream();
-        ConfigData m_data;
-
-        std::unique_ptr<IStream const> m_stream;
-        TestSpec m_testSpec;
-        bool m_hasTestFilters = false;
-    };
-
-} // end namespace Catch
-
-// end catch_config.hpp
-// start catch_assertionresult.h
-
-#include <string>
-
-namespace Catch {
-
-    struct AssertionResultData
-    {
-        AssertionResultData() = delete;
-
-        AssertionResultData( ResultWas::OfType _resultType, LazyExpression const& _lazyExpression );
-
-        std::string message;
-        mutable std::string reconstructedExpression;
-        LazyExpression lazyExpression;
-        ResultWas::OfType resultType;
-
-        std::string reconstructExpression() const;
-    };
-
-    class AssertionResult {
-    public:
-        AssertionResult() = delete;
-        AssertionResult( AssertionInfo const& info, AssertionResultData const& data );
-
-        bool isOk() const;
-        bool succeeded() const;
-        ResultWas::OfType getResultType() const;
-        bool hasExpression() const;
-        bool hasMessage() const;
-        std::string getExpression() const;
-        std::string getExpressionInMacro() const;
-        bool hasExpandedExpression() const;
-        std::string getExpandedExpression() const;
-        std::string getMessage() const;
-        SourceLineInfo getSourceInfo() const;
-        StringRef getTestMacroName() const;
-
-    //protected:
-        AssertionInfo m_info;
-        AssertionResultData m_resultData;
-    };
-
-} // end namespace Catch
-
-// end catch_assertionresult.h
-// start catch_option.hpp
-
-namespace Catch {
-
-    // An optional type
-    template<typename T>
-    class Option {
-    public:
-        Option() : nullableValue( nullptr ) {}
-        Option( T const& _value )
-        : nullableValue( new( storage ) T( _value ) )
-        {}
-        Option( Option const& _other )
-        : nullableValue( _other ? new( storage ) T( *_other ) : nullptr )
-        {}
-
-        ~Option() {
-            reset();
-        }
-
-        Option& operator= ( Option const& _other ) {
-            if( &_other != this ) {
-                reset();
-                if( _other )
-                    nullableValue = new( storage ) T( *_other );
-            }
-            return *this;
-        }
-        Option& operator = ( T const& _value ) {
-            reset();
-            nullableValue = new( storage ) T( _value );
-            return *this;
-        }
-
-        void reset() {
-            if( nullableValue )
-                nullableValue->~T();
-            nullableValue = nullptr;
-        }
-
-        T& operator*() { return *nullableValue; }
-        T const& operator*() const { return *nullableValue; }
-        T* operator->() { return nullableValue; }
-        const T* operator->() const { return nullableValue; }
-
-        T valueOr( T const& defaultValue ) const {
-            return nullableValue ? *nullableValue : defaultValue;
-        }
-
-        bool some() const { return nullableValue != nullptr; }
-        bool none() const { return nullableValue == nullptr; }
-
-        bool operator !() const { return nullableValue == nullptr; }
-        explicit operator bool() const {
-            return some();
-        }
-
-    private:
-        T *nullableValue;
-        alignas(alignof(T)) char storage[sizeof(T)];
-    };
-
-} // end namespace Catch
-
-// end catch_option.hpp
-#include <string>
-#include <iosfwd>
-#include <map>
-#include <set>
-#include <memory>
-
-namespace Catch {
-
-    struct ReporterConfig {
-        explicit ReporterConfig( IConfigPtr const& _fullConfig );
-
-        ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream );
-
-        std::ostream& stream() const;
-        IConfigPtr fullConfig() const;
-
-    private:
-        std::ostream* m_stream;
-        IConfigPtr m_fullConfig;
-    };
-
-    struct ReporterPreferences {
-        bool shouldRedirectStdOut = false;
-        bool shouldReportAllAssertions = false;
-    };
-
-    template<typename T>
-    struct LazyStat : Option<T> {
-        LazyStat& operator=( T const& _value ) {
-            Option<T>::operator=( _value );
-            used = false;
-            return *this;
-        }
-        void reset() {
-            Option<T>::reset();
-            used = false;
-        }
-        bool used = false;
-    };
-
-    struct TestRunInfo {
-        TestRunInfo( std::string const& _name );
-        std::string name;
-    };
-    struct GroupInfo {
-        GroupInfo(  std::string const& _name,
-                    std::size_t _groupIndex,
-                    std::size_t _groupsCount );
-
-        std::string name;
-        std::size_t groupIndex;
-        std::size_t groupsCounts;
-    };
-
-    struct AssertionStats {
-        AssertionStats( AssertionResult const& _assertionResult,
-                        std::vector<MessageInfo> const& _infoMessages,
-                        Totals const& _totals );
-
-        AssertionStats( AssertionStats const& )              = default;
-        AssertionStats( AssertionStats && )                  = default;
-        AssertionStats& operator = ( AssertionStats const& ) = default;
-        AssertionStats& operator = ( AssertionStats && )     = default;
-        virtual ~AssertionStats();
-
-        AssertionResult assertionResult;
-        std::vector<MessageInfo> infoMessages;
-        Totals totals;
-    };
-
-    struct SectionStats {
-        SectionStats(   SectionInfo const& _sectionInfo,
-                        Counts const& _assertions,
-                        double _durationInSeconds,
-                        bool _missingAssertions );
-        SectionStats( SectionStats const& )              = default;
-        SectionStats( SectionStats && )                  = default;
-        SectionStats& operator = ( SectionStats const& ) = default;
-        SectionStats& operator = ( SectionStats && )     = default;
-        virtual ~SectionStats();
-
-        SectionInfo sectionInfo;
-        Counts assertions;
-        double durationInSeconds;
-        bool missingAssertions;
-    };
-
-    struct TestCaseStats {
-        TestCaseStats(  TestCaseInfo const& _testInfo,
-                        Totals const& _totals,
-                        std::string const& _stdOut,
-                        std::string const& _stdErr,
-                        bool _aborting );
-
-        TestCaseStats( TestCaseStats const& )              = default;
-        TestCaseStats( TestCaseStats && )                  = default;
-        TestCaseStats& operator = ( TestCaseStats const& ) = default;
-        TestCaseStats& operator = ( TestCaseStats && )     = default;
-        virtual ~TestCaseStats();
-
-        TestCaseInfo testInfo;
-        Totals totals;
-        std::string stdOut;
-        std::string stdErr;
-        bool aborting;
-    };
-
-    struct TestGroupStats {
-        TestGroupStats( GroupInfo const& _groupInfo,
-                        Totals const& _totals,
-                        bool _aborting );
-        TestGroupStats( GroupInfo const& _groupInfo );
-
-        TestGroupStats( TestGroupStats const& )              = default;
-        TestGroupStats( TestGroupStats && )                  = default;
-        TestGroupStats& operator = ( TestGroupStats const& ) = default;
-        TestGroupStats& operator = ( TestGroupStats && )     = default;
-        virtual ~TestGroupStats();
-
-        GroupInfo groupInfo;
-        Totals totals;
-        bool aborting;
-    };
-
-    struct TestRunStats {
-        TestRunStats(   TestRunInfo const& _runInfo,
-                        Totals const& _totals,
-                        bool _aborting );
-
-        TestRunStats( TestRunStats const& )              = default;
-        TestRunStats( TestRunStats && )                  = default;
-        TestRunStats& operator = ( TestRunStats const& ) = default;
-        TestRunStats& operator = ( TestRunStats && )     = default;
-        virtual ~TestRunStats();
-
-        TestRunInfo runInfo;
-        Totals totals;
-        bool aborting;
-    };
-
-    struct BenchmarkInfo {
-        std::string name;
-    };
-    struct BenchmarkStats {
-        BenchmarkInfo info;
-        std::size_t iterations;
-        uint64_t elapsedTimeInNanoseconds;
-    };
-
-    struct IStreamingReporter {
-        virtual ~IStreamingReporter() = default;
-
-        // Implementing class must also provide the following static methods:
-        // static std::string getDescription();
-        // static std::set<Verbosity> getSupportedVerbosities()
-
-        virtual ReporterPreferences getPreferences() const = 0;
-
-        virtual void noMatchingTestCases( std::string const& spec ) = 0;
-
-        virtual void testRunStarting( TestRunInfo const& testRunInfo ) = 0;
-        virtual void testGroupStarting( GroupInfo const& groupInfo ) = 0;
-
-        virtual void testCaseStarting( TestCaseInfo const& testInfo ) = 0;
-        virtual void sectionStarting( SectionInfo const& sectionInfo ) = 0;
-
-        // *** experimental ***
-        virtual void benchmarkStarting( BenchmarkInfo const& ) {}
-
-        virtual void assertionStarting( AssertionInfo const& assertionInfo ) = 0;
-
-        // The return value indicates if the messages buffer should be cleared:
-        virtual bool assertionEnded( AssertionStats const& assertionStats ) = 0;
-
-        // *** experimental ***
-        virtual void benchmarkEnded( BenchmarkStats const& ) {}
-
-        virtual void sectionEnded( SectionStats const& sectionStats ) = 0;
-        virtual void testCaseEnded( TestCaseStats const& testCaseStats ) = 0;
-        virtual void testGroupEnded( TestGroupStats const& testGroupStats ) = 0;
-        virtual void testRunEnded( TestRunStats const& testRunStats ) = 0;
-
-        virtual void skipTest( TestCaseInfo const& testInfo ) = 0;
-
-        // Default empty implementation provided
-        virtual void fatalErrorEncountered( StringRef name );
-
-        virtual bool isMulti() const;
-    };
-    using IStreamingReporterPtr = std::unique_ptr<IStreamingReporter>;
-
-    struct IReporterFactory {
-        virtual ~IReporterFactory();
-        virtual IStreamingReporterPtr create( ReporterConfig const& config ) const = 0;
-        virtual std::string getDescription() const = 0;
-    };
-    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
-
-    struct IReporterRegistry {
-        using FactoryMap = std::map<std::string, IReporterFactoryPtr>;
-        using Listeners = std::vector<IReporterFactoryPtr>;
-
-        virtual ~IReporterRegistry();
-        virtual IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const = 0;
-        virtual FactoryMap const& getFactories() const = 0;
-        virtual Listeners const& getListeners() const = 0;
-    };
-
-} // end namespace Catch
-
-// end catch_interfaces_reporter.h
-#include <algorithm>
-#include <cstring>
-#include <cfloat>
-#include <cstdio>
-#include <cassert>
-#include <memory>
-#include <ostream>
-
-namespace Catch {
-    void prepareExpandedExpression(AssertionResult& result);
-
-    // Returns double formatted as %.3f (format expected on output)
-    std::string getFormattedDuration( double duration );
-
-    template<typename DerivedT>
-    struct StreamingReporterBase : IStreamingReporter {
-
-        StreamingReporterBase( ReporterConfig const& _config )
-        :   m_config( _config.fullConfig() ),
-            stream( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = false;
-            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
-                CATCH_ERROR( "Verbosity level not supported by this reporter" );
-        }
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        ~StreamingReporterBase() override = default;
-
-        void noMatchingTestCases(std::string const&) override {}
-
-        void testRunStarting(TestRunInfo const& _testRunInfo) override {
-            currentTestRunInfo = _testRunInfo;
-        }
-        void testGroupStarting(GroupInfo const& _groupInfo) override {
-            currentGroupInfo = _groupInfo;
-        }
-
-        void testCaseStarting(TestCaseInfo const& _testInfo) override  {
-            currentTestCaseInfo = _testInfo;
-        }
-        void sectionStarting(SectionInfo const& _sectionInfo) override {
-            m_sectionStack.push_back(_sectionInfo);
-        }
-
-        void sectionEnded(SectionStats const& /* _sectionStats */) override {
-            m_sectionStack.pop_back();
-        }
-        void testCaseEnded(TestCaseStats const& /* _testCaseStats */) override {
-            currentTestCaseInfo.reset();
-        }
-        void testGroupEnded(TestGroupStats const& /* _testGroupStats */) override {
-            currentGroupInfo.reset();
-        }
-        void testRunEnded(TestRunStats const& /* _testRunStats */) override {
-            currentTestCaseInfo.reset();
-            currentGroupInfo.reset();
-            currentTestRunInfo.reset();
-        }
-
-        void skipTest(TestCaseInfo const&) override {
-            // Don't do anything with this by default.
-            // It can optionally be overridden in the derived class.
-        }
-
-        IConfigPtr m_config;
-        std::ostream& stream;
-
-        LazyStat<TestRunInfo> currentTestRunInfo;
-        LazyStat<GroupInfo> currentGroupInfo;
-        LazyStat<TestCaseInfo> currentTestCaseInfo;
-
-        std::vector<SectionInfo> m_sectionStack;
-        ReporterPreferences m_reporterPrefs;
-    };
-
-    template<typename DerivedT>
-    struct CumulativeReporterBase : IStreamingReporter {
-        template<typename T, typename ChildNodeT>
-        struct Node {
-            explicit Node( T const& _value ) : value( _value ) {}
-            virtual ~Node() {}
-
-            using ChildNodes = std::vector<std::shared_ptr<ChildNodeT>>;
-            T value;
-            ChildNodes children;
-        };
-        struct SectionNode {
-            explicit SectionNode(SectionStats const& _stats) : stats(_stats) {}
-            virtual ~SectionNode() = default;
-
-            bool operator == (SectionNode const& other) const {
-                return stats.sectionInfo.lineInfo == other.stats.sectionInfo.lineInfo;
-            }
-            bool operator == (std::shared_ptr<SectionNode> const& other) const {
-                return operator==(*other);
-            }
-
-            SectionStats stats;
-            using ChildSections = std::vector<std::shared_ptr<SectionNode>>;
-            using Assertions = std::vector<AssertionStats>;
-            ChildSections childSections;
-            Assertions assertions;
-            std::string stdOut;
-            std::string stdErr;
-        };
-
-        struct BySectionInfo {
-            BySectionInfo( SectionInfo const& other ) : m_other( other ) {}
-            BySectionInfo( BySectionInfo const& other ) : m_other( other.m_other ) {}
-            bool operator() (std::shared_ptr<SectionNode> const& node) const {
-                return ((node->stats.sectionInfo.name == m_other.name) &&
-                        (node->stats.sectionInfo.lineInfo == m_other.lineInfo));
-            }
-            void operator=(BySectionInfo const&) = delete;
-
-        private:
-            SectionInfo const& m_other;
-        };
-
-        using TestCaseNode = Node<TestCaseStats, SectionNode>;
-        using TestGroupNode = Node<TestGroupStats, TestCaseNode>;
-        using TestRunNode = Node<TestRunStats, TestGroupNode>;
-
-        CumulativeReporterBase( ReporterConfig const& _config )
-        :   m_config( _config.fullConfig() ),
-            stream( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = false;
-            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
-                CATCH_ERROR( "Verbosity level not supported by this reporter" );
-        }
-        ~CumulativeReporterBase() override = default;
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void testRunStarting( TestRunInfo const& ) override {}
-        void testGroupStarting( GroupInfo const& ) override {}
-
-        void testCaseStarting( TestCaseInfo const& ) override {}
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            SectionStats incompleteStats( sectionInfo, Counts(), 0, false );
-            std::shared_ptr<SectionNode> node;
-            if( m_sectionStack.empty() ) {
-                if( !m_rootSection )
-                    m_rootSection = std::make_shared<SectionNode>( incompleteStats );
-                node = m_rootSection;
-            }
-            else {
-                SectionNode& parentNode = *m_sectionStack.back();
-                auto it =
-                    std::find_if(   parentNode.childSections.begin(),
-                                    parentNode.childSections.end(),
-                                    BySectionInfo( sectionInfo ) );
-                if( it == parentNode.childSections.end() ) {
-                    node = std::make_shared<SectionNode>( incompleteStats );
-                    parentNode.childSections.push_back( node );
-                }
-                else
-                    node = *it;
-            }
-            m_sectionStack.push_back( node );
-            m_deepestSection = std::move(node);
-        }
-
-        void assertionStarting(AssertionInfo const&) override {}
-
-        bool assertionEnded(AssertionStats const& assertionStats) override {
-            assert(!m_sectionStack.empty());
-            // AssertionResult holds a pointer to a temporary DecomposedExpression,
-            // which getExpandedExpression() calls to build the expression string.
-            // Our section stack copy of the assertionResult will likely outlive the
-            // temporary, so it must be expanded or discarded now to avoid calling
-            // a destroyed object later.
-            prepareExpandedExpression(const_cast<AssertionResult&>( assertionStats.assertionResult ) );
-            SectionNode& sectionNode = *m_sectionStack.back();
-            sectionNode.assertions.push_back(assertionStats);
-            return true;
-        }
-        void sectionEnded(SectionStats const& sectionStats) override {
-            assert(!m_sectionStack.empty());
-            SectionNode& node = *m_sectionStack.back();
-            node.stats = sectionStats;
-            m_sectionStack.pop_back();
-        }
-        void testCaseEnded(TestCaseStats const& testCaseStats) override {
-            auto node = std::make_shared<TestCaseNode>(testCaseStats);
-            assert(m_sectionStack.size() == 0);
-            node->children.push_back(m_rootSection);
-            m_testCases.push_back(node);
-            m_rootSection.reset();
-
-            assert(m_deepestSection);
-            m_deepestSection->stdOut = testCaseStats.stdOut;
-            m_deepestSection->stdErr = testCaseStats.stdErr;
-        }
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            auto node = std::make_shared<TestGroupNode>(testGroupStats);
-            node->children.swap(m_testCases);
-            m_testGroups.push_back(node);
-        }
-        void testRunEnded(TestRunStats const& testRunStats) override {
-            auto node = std::make_shared<TestRunNode>(testRunStats);
-            node->children.swap(m_testGroups);
-            m_testRuns.push_back(node);
-            testRunEndedCumulative();
-        }
-        virtual void testRunEndedCumulative() = 0;
-
-        void skipTest(TestCaseInfo const&) override {}
-
-        IConfigPtr m_config;
-        std::ostream& stream;
-        std::vector<AssertionStats> m_assertions;
-        std::vector<std::vector<std::shared_ptr<SectionNode>>> m_sections;
-        std::vector<std::shared_ptr<TestCaseNode>> m_testCases;
-        std::vector<std::shared_ptr<TestGroupNode>> m_testGroups;
-
-        std::vector<std::shared_ptr<TestRunNode>> m_testRuns;
-
-        std::shared_ptr<SectionNode> m_rootSection;
-        std::shared_ptr<SectionNode> m_deepestSection;
-        std::vector<std::shared_ptr<SectionNode>> m_sectionStack;
-        ReporterPreferences m_reporterPrefs;
-    };
-
-    template<char C>
-    char const* getLineOfChars() {
-        static char line[CATCH_CONFIG_CONSOLE_WIDTH] = {0};
-        if( !*line ) {
-            std::memset( line, C, CATCH_CONFIG_CONSOLE_WIDTH-1 );
-            line[CATCH_CONFIG_CONSOLE_WIDTH-1] = 0;
-        }
-        return line;
-    }
-
-    struct TestEventListenerBase : StreamingReporterBase<TestEventListenerBase> {
-        TestEventListenerBase( ReporterConfig const& _config );
-
-        static std::set<Verbosity> getSupportedVerbosities();
-
-        void assertionStarting(AssertionInfo const&) override;
-        bool assertionEnded(AssertionStats const&) override;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_bases.hpp
-// start catch_console_colour.h
-
-namespace Catch {
-
-    struct Colour {
-        enum Code {
-            None = 0,
-
-            White,
-            Red,
-            Green,
-            Blue,
-            Cyan,
-            Yellow,
-            Grey,
-
-            Bright = 0x10,
-
-            BrightRed = Bright | Red,
-            BrightGreen = Bright | Green,
-            LightGrey = Bright | Grey,
-            BrightWhite = Bright | White,
-            BrightYellow = Bright | Yellow,
-
-            // By intention
-            FileName = LightGrey,
-            Warning = BrightYellow,
-            ResultError = BrightRed,
-            ResultSuccess = BrightGreen,
-            ResultExpectedFailure = Warning,
-
-            Error = BrightRed,
-            Success = Green,
-
-            OriginalExpression = Cyan,
-            ReconstructedExpression = BrightYellow,
-
-            SecondaryText = LightGrey,
-            Headers = White
-        };
-
-        // Use constructed object for RAII guard
-        Colour( Code _colourCode );
-        Colour( Colour&& other ) noexcept;
-        Colour& operator=( Colour&& other ) noexcept;
-        ~Colour();
-
-        // Use static method for one-shot changes
-        static void use( Code _colourCode );
-
-    private:
-        bool m_moved = false;
-    };
-
-    std::ostream& operator << ( std::ostream& os, Colour const& );
-
-} // end namespace Catch
-
-// end catch_console_colour.h
-// start catch_reporter_registrars.hpp
-
-
-namespace Catch {
-
-    template<typename T>
-    class ReporterRegistrar {
-
-        class ReporterFactory : public IReporterFactory {
-
-            virtual IStreamingReporterPtr create( ReporterConfig const& config ) const override {
-                return std::unique_ptr<T>( new T( config ) );
-            }
-
-            virtual std::string getDescription() const override {
-                return T::getDescription();
-            }
-        };
-
-    public:
-
-        explicit ReporterRegistrar( std::string const& name ) {
-            getMutableRegistryHub().registerReporter( name, std::make_shared<ReporterFactory>() );
-        }
-    };
-
-    template<typename T>
-    class ListenerRegistrar {
-
-        class ListenerFactory : public IReporterFactory {
-
-            virtual IStreamingReporterPtr create( ReporterConfig const& config ) const override {
-                return std::unique_ptr<T>( new T( config ) );
-            }
-            virtual std::string getDescription() const override {
-                return std::string();
-            }
-        };
-
-    public:
-
-        ListenerRegistrar() {
-            getMutableRegistryHub().registerListener( std::make_shared<ListenerFactory>() );
-        }
-    };
-}
-
-#if !defined(CATCH_CONFIG_DISABLE)
-
-#define CATCH_REGISTER_REPORTER( name, reporterType ) \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS          \
-    namespace{ Catch::ReporterRegistrar<reporterType> catch_internal_RegistrarFor##reporterType( name ); } \
-    CATCH_INTERNAL_UNSUPPRESS_GLOBALS_WARNINGS
-
-#define CATCH_REGISTER_LISTENER( listenerType ) \
-     CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS   \
-     namespace{ Catch::ListenerRegistrar<listenerType> catch_internal_RegistrarFor##listenerType; } \
-     CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-#else // CATCH_CONFIG_DISABLE
-
-#define CATCH_REGISTER_REPORTER(name, reporterType)
-#define CATCH_REGISTER_LISTENER(listenerType)
-
-#endif // CATCH_CONFIG_DISABLE
-
-// end catch_reporter_registrars.hpp
-// Allow users to base their work off existing reporters
-// start catch_reporter_compact.h
-
-namespace Catch {
-
-    struct CompactReporter : StreamingReporterBase<CompactReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        ~CompactReporter() override;
-
-        static std::string getDescription();
-
-        ReporterPreferences getPreferences() const override;
-
-        void noMatchingTestCases(std::string const& spec) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& _assertionStats) override;
-
-        void sectionEnded(SectionStats const& _sectionStats) override;
-
-        void testRunEnded(TestRunStats const& _testRunStats) override;
-
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_compact.h
-// start catch_reporter_console.h
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
-                              // Note that 4062 (not all labels are handled
-                              // and default is missing) is enabled
-#endif
-
-namespace Catch {
-    // Fwd decls
-    struct SummaryColumn;
-    class TablePrinter;
-
-    struct ConsoleReporter : StreamingReporterBase<ConsoleReporter> {
-        std::unique_ptr<TablePrinter> m_tablePrinter;
-
-        ConsoleReporter(ReporterConfig const& config);
-        ~ConsoleReporter() override;
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& spec) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& _assertionStats) override;
-
-        void sectionStarting(SectionInfo const& _sectionInfo) override;
-        void sectionEnded(SectionStats const& _sectionStats) override;
-
-        void benchmarkStarting(BenchmarkInfo const& info) override;
-        void benchmarkEnded(BenchmarkStats const& stats) override;
-
-        void testCaseEnded(TestCaseStats const& _testCaseStats) override;
-        void testGroupEnded(TestGroupStats const& _testGroupStats) override;
-        void testRunEnded(TestRunStats const& _testRunStats) override;
-
-    private:
-
-        void lazyPrint();
-
-        void lazyPrintWithoutClosingBenchmarkTable();
-        void lazyPrintRunInfo();
-        void lazyPrintGroupInfo();
-        void printTestCaseAndSectionHeader();
-
-        void printClosedHeader(std::string const& _name);
-        void printOpenHeader(std::string const& _name);
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        void printHeaderString(std::string const& _string, std::size_t indent = 0);
-
-        void printTotals(Totals const& totals);
-        void printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row);
-
-        void printTotalsDivider(Totals const& totals);
-        void printSummaryDivider();
-
-    private:
-        bool m_headerPrinted = false;
-    };
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-// end catch_reporter_console.h
-// start catch_reporter_junit.h
-
-// start catch_xmlwriter.h
-
-#include <vector>
-
-namespace Catch {
-
-    class XmlEncode {
-    public:
-        enum ForWhat { ForTextNodes, ForAttributes };
-
-        XmlEncode( std::string const& str, ForWhat forWhat = ForTextNodes );
-
-        void encodeTo( std::ostream& os ) const;
-
-        friend std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode );
-
-    private:
-        std::string m_str;
-        ForWhat m_forWhat;
-    };
-
-    class XmlWriter {
-    public:
-
-        class ScopedElement {
-        public:
-            ScopedElement( XmlWriter* writer );
-
-            ScopedElement( ScopedElement&& other ) noexcept;
-            ScopedElement& operator=( ScopedElement&& other ) noexcept;
-
-            ~ScopedElement();
-
-            ScopedElement& writeText( std::string const& text, bool indent = true );
-
-            template<typename T>
-            ScopedElement& writeAttribute( std::string const& name, T const& attribute ) {
-                m_writer->writeAttribute( name, attribute );
-                return *this;
-            }
-
-        private:
-            mutable XmlWriter* m_writer = nullptr;
-        };
-
-        XmlWriter( std::ostream& os = Catch::cout() );
-        ~XmlWriter();
-
-        XmlWriter( XmlWriter const& ) = delete;
-        XmlWriter& operator=( XmlWriter const& ) = delete;
-
-        XmlWriter& startElement( std::string const& name );
-
-        ScopedElement scopedElement( std::string const& name );
-
-        XmlWriter& endElement();
-
-        XmlWriter& writeAttribute( std::string const& name, std::string const& attribute );
-
-        XmlWriter& writeAttribute( std::string const& name, bool attribute );
-
-        template<typename T>
-        XmlWriter& writeAttribute( std::string const& name, T const& attribute ) {
-            ReusableStringStream rss;
-            rss << attribute;
-            return writeAttribute( name, rss.str() );
-        }
-
-        XmlWriter& writeText( std::string const& text, bool indent = true );
-
-        XmlWriter& writeComment( std::string const& text );
-
-        void writeStylesheetRef( std::string const& url );
-
-        XmlWriter& writeBlankLine();
-
-        void ensureTagClosed();
-
-    private:
-
-        void writeDeclaration();
-
-        void newlineIfNecessary();
-
-        bool m_tagIsOpen = false;
-        bool m_needsNewline = false;
-        std::vector<std::string> m_tags;
-        std::string m_indent;
-        std::ostream& m_os;
-    };
-
-}
-
-// end catch_xmlwriter.h
-namespace Catch {
-
-    class JunitReporter : public CumulativeReporterBase<JunitReporter> {
-    public:
-        JunitReporter(ReporterConfig const& _config);
-
-        ~JunitReporter() override;
-
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& /*spec*/) override;
-
-        void testRunStarting(TestRunInfo const& runInfo) override;
-
-        void testGroupStarting(GroupInfo const& groupInfo) override;
-
-        void testCaseStarting(TestCaseInfo const& testCaseInfo) override;
-        bool assertionEnded(AssertionStats const& assertionStats) override;
-
-        void testCaseEnded(TestCaseStats const& testCaseStats) override;
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override;
-
-        void testRunEndedCumulative() override;
-
-        void writeGroup(TestGroupNode const& groupNode, double suiteTime);
-
-        void writeTestCase(TestCaseNode const& testCaseNode);
-
-        void writeSection(std::string const& className,
-                          std::string const& rootName,
-                          SectionNode const& sectionNode);
-
-        void writeAssertions(SectionNode const& sectionNode);
-        void writeAssertion(AssertionStats const& stats);
-
-        XmlWriter xml;
-        Timer suiteTimer;
-        std::string stdOutForSuite;
-        std::string stdErrForSuite;
-        unsigned int unexpectedExceptions = 0;
-        bool m_okToFail = false;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_junit.h
-// start catch_reporter_xml.h
-
-namespace Catch {
-    class XmlReporter : public StreamingReporterBase<XmlReporter> {
-    public:
-        XmlReporter(ReporterConfig const& _config);
-
-        ~XmlReporter() override;
-
-        static std::string getDescription();
-
-        virtual std::string getStylesheetRef() const;
-
-        void writeSourceInfo(SourceLineInfo const& sourceInfo);
-
-    public: // StreamingReporterBase
-
-        void noMatchingTestCases(std::string const& s) override;
-
-        void testRunStarting(TestRunInfo const& testInfo) override;
-
-        void testGroupStarting(GroupInfo const& groupInfo) override;
-
-        void testCaseStarting(TestCaseInfo const& testInfo) override;
-
-        void sectionStarting(SectionInfo const& sectionInfo) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& assertionStats) override;
-
-        void sectionEnded(SectionStats const& sectionStats) override;
-
-        void testCaseEnded(TestCaseStats const& testCaseStats) override;
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override;
-
-        void testRunEnded(TestRunStats const& testRunStats) override;
-
-    private:
-        Timer m_testCaseTimer;
-        XmlWriter m_xml;
-        int m_sectionDepth = 0;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_xml.h
-
-// end catch_external_interfaces.h
-#endif
-
-#endif // ! CATCH_CONFIG_IMPL_ONLY
-
-#ifdef CATCH_IMPL
-// start catch_impl.hpp
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wweak-vtables"
-#endif
-
-// Keep these here for external reporters
-// start catch_test_case_tracker.h
-
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-namespace TestCaseTracking {
-
-    struct NameAndLocation {
-        std::string name;
-        SourceLineInfo location;
-
-        NameAndLocation( std::string const& _name, SourceLineInfo const& _location );
-    };
-
-    struct ITracker;
-
-    using ITrackerPtr = std::shared_ptr<ITracker>;
-
-    struct ITracker {
-        virtual ~ITracker();
-
-        // static queries
-        virtual NameAndLocation const& nameAndLocation() const = 0;
-
-        // dynamic queries
-        virtual bool isComplete() const = 0; // Successfully completed or failed
-        virtual bool isSuccessfullyCompleted() const = 0;
-        virtual bool isOpen() const = 0; // Started but not complete
-        virtual bool hasChildren() const = 0;
-
-        virtual ITracker& parent() = 0;
-
-        // actions
-        virtual void close() = 0; // Successfully complete
-        virtual void fail() = 0;
-        virtual void markAsNeedingAnotherRun() = 0;
-
-        virtual void addChild( ITrackerPtr const& child ) = 0;
-        virtual ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) = 0;
-        virtual void openChild() = 0;
-
-        // Debug/ checking
-        virtual bool isSectionTracker() const = 0;
-        virtual bool isIndexTracker() const = 0;
-    };
-
-    class TrackerContext {
-
-        enum RunState {
-            NotStarted,
-            Executing,
-            CompletedCycle
-        };
-
-        ITrackerPtr m_rootTracker;
-        ITracker* m_currentTracker = nullptr;
-        RunState m_runState = NotStarted;
-
-    public:
-
-        static TrackerContext& instance();
-
-        ITracker& startRun();
-        void endRun();
-
-        void startCycle();
-        void completeCycle();
-
-        bool completedCycle() const;
-        ITracker& currentTracker();
-        void setCurrentTracker( ITracker* tracker );
-    };
-
-    class TrackerBase : public ITracker {
-    protected:
-        enum CycleState {
-            NotStarted,
-            Executing,
-            ExecutingChildren,
-            NeedsAnotherRun,
-            CompletedSuccessfully,
-            Failed
-        };
-
-        using Children = std::vector<ITrackerPtr>;
-        NameAndLocation m_nameAndLocation;
-        TrackerContext& m_ctx;
-        ITracker* m_parent;
-        Children m_children;
-        CycleState m_runState = NotStarted;
-
-    public:
-        TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
-
-        NameAndLocation const& nameAndLocation() const override;
-        bool isComplete() const override;
-        bool isSuccessfullyCompleted() const override;
-        bool isOpen() const override;
-        bool hasChildren() const override;
-
-        void addChild( ITrackerPtr const& child ) override;
-
-        ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) override;
-        ITracker& parent() override;
-
-        void openChild() override;
-
-        bool isSectionTracker() const override;
-        bool isIndexTracker() const override;
-
-        void open();
-
-        void close() override;
-        void fail() override;
-        void markAsNeedingAnotherRun() override;
-
-    private:
-        void moveToParent();
-        void moveToThis();
-    };
-
-    class SectionTracker : public TrackerBase {
-        std::vector<std::string> m_filters;
-    public:
-        SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
-
-        bool isSectionTracker() const override;
-
-        static SectionTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation );
-
-        void tryOpen();
-
-        void addInitialFilters( std::vector<std::string> const& filters );
-        void addNextFilters( std::vector<std::string> const& filters );
-    };
-
-    class IndexTracker : public TrackerBase {
-        int m_size;
-        int m_index = -1;
-    public:
-        IndexTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent, int size );
-
-        bool isIndexTracker() const override;
-        void close() override;
-
-        static IndexTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation, int size );
-
-        int index() const;
-
-        void moveNext();
-    };
-
-} // namespace TestCaseTracking
-
-using TestCaseTracking::ITracker;
-using TestCaseTracking::TrackerContext;
-using TestCaseTracking::SectionTracker;
-using TestCaseTracking::IndexTracker;
-
-} // namespace Catch
-
-// end catch_test_case_tracker.h
-
-// start catch_leak_detector.h
-
-namespace Catch {
-
-    struct LeakDetector {
-        LeakDetector();
-        ~LeakDetector();
-    };
-
-}
-// end catch_leak_detector.h
-// Cpp files will be included in the single-header file here
-// start catch_approx.cpp
-
-#include <cmath>
-#include <limits>
-
-namespace {
-
-// Performs equivalent check of std::fabs(lhs - rhs) <= margin
-// But without the subtraction to allow for INFINITY in comparison
-bool marginComparison(double lhs, double rhs, double margin) {
-    return (lhs + margin >= rhs) && (rhs + margin >= lhs);
-}
-
-}
-
-namespace Catch {
-namespace Detail {
-
-    Approx::Approx ( double value )
-    :   m_epsilon( std::numeric_limits<float>::epsilon()*100 ),
-        m_margin( 0.0 ),
-        m_scale( 0.0 ),
-        m_value( value )
-    {}
-
-    Approx Approx::custom() {
-        return Approx( 0 );
-    }
-
-    Approx Approx::operator-() const {
-        auto temp(*this);
-        temp.m_value = -temp.m_value;
-        return temp;
-    }
-
-    std::string Approx::toString() const {
-        ReusableStringStream rss;
-        rss << "Approx( " << ::Catch::Detail::stringify( m_value ) << " )";
-        return rss.str();
-    }
-
-    bool Approx::equalityComparisonImpl(const double other) const {
-        // First try with fixed margin, then compute margin based on epsilon, scale and Approx's value
-        // Thanks to Richard Harris for his help refining the scaled margin value
-        return marginComparison(m_value, other, m_margin) || marginComparison(m_value, other, m_epsilon * (m_scale + std::fabs(m_value)));
-    }
-
-    void Approx::setMargin(double margin) {
-        CATCH_ENFORCE(margin >= 0,
-            "Invalid Approx::margin: " << margin << '.'
-            << " Approx::Margin has to be non-negative.");
-        m_margin = margin;
-    }
-
-    void Approx::setEpsilon(double epsilon) {
-        CATCH_ENFORCE(epsilon >= 0 && epsilon <= 1.0,
-            "Invalid Approx::epsilon: " << epsilon << '.'
-            << " Approx::epsilon has to be in [0, 1]");
-        m_epsilon = epsilon;
-    }
-
-} // end namespace Detail
-
-namespace literals {
-    Detail::Approx operator "" _a(long double val) {
-        return Detail::Approx(val);
-    }
-    Detail::Approx operator "" _a(unsigned long long val) {
-        return Detail::Approx(val);
-    }
-} // end namespace literals
-
-std::string StringMaker<Catch::Detail::Approx>::convert(Catch::Detail::Approx const& value) {
-    return value.toString();
-}
-
-} // end namespace Catch
-// end catch_approx.cpp
-// start catch_assertionhandler.cpp
-
-// start catch_context.h
-
-#include <memory>
-
-namespace Catch {
-
-    struct IResultCapture;
-    struct IRunner;
-    struct IConfig;
-    struct IMutableContext;
-
-    using IConfigPtr = std::shared_ptr<IConfig const>;
-
-    struct IContext
-    {
-        virtual ~IContext();
-
-        virtual IResultCapture* getResultCapture() = 0;
-        virtual IRunner* getRunner() = 0;
-        virtual IConfigPtr const& getConfig() const = 0;
-    };
-
-    struct IMutableContext : IContext
-    {
-        virtual ~IMutableContext();
-        virtual void setResultCapture( IResultCapture* resultCapture ) = 0;
-        virtual void setRunner( IRunner* runner ) = 0;
-        virtual void setConfig( IConfigPtr const& config ) = 0;
-
-    private:
-        static IMutableContext *currentContext;
-        friend IMutableContext& getCurrentMutableContext();
-        friend void cleanUpContext();
-        static void createContext();
-    };
-
-    inline IMutableContext& getCurrentMutableContext()
-    {
-        if( !IMutableContext::currentContext )
-            IMutableContext::createContext();
-        return *IMutableContext::currentContext;
-    }
-
-    inline IContext& getCurrentContext()
-    {
-        return getCurrentMutableContext();
-    }
-
-    void cleanUpContext();
-}
-
-// end catch_context.h
-// start catch_debugger.h
-
-namespace Catch {
-    bool isDebuggerActive();
-}
-
-#ifdef CATCH_PLATFORM_MAC
-
-    #define CATCH_TRAP() __asm__("int $3\n" : : ) /* NOLINT */
-
-#elif defined(CATCH_PLATFORM_LINUX)
-    // If we can use inline assembler, do it because this allows us to break
-    // directly at the location of the failing check instead of breaking inside
-    // raise() called from it, i.e. one stack frame below.
-    #if defined(__GNUC__) && (defined(__i386) || defined(__x86_64))
-        #define CATCH_TRAP() asm volatile ("int $3") /* NOLINT */
-    #else // Fall back to the generic way.
-        #include <signal.h>
-
-        #define CATCH_TRAP() raise(SIGTRAP)
-    #endif
-#elif defined(_MSC_VER)
-    #define CATCH_TRAP() __debugbreak()
-#elif defined(__MINGW32__)
-    extern "C" __declspec(dllimport) void __stdcall DebugBreak();
-    #define CATCH_TRAP() DebugBreak()
-#endif
-
-#ifdef CATCH_TRAP
-    #define CATCH_BREAK_INTO_DEBUGGER() if( Catch::isDebuggerActive() ) { CATCH_TRAP(); }
-#else
-    namespace Catch {
-        inline void doNothing() {}
-    }
-    #define CATCH_BREAK_INTO_DEBUGGER() Catch::doNothing()
-#endif
-
-// end catch_debugger.h
-// start catch_run_context.h
-
-// start catch_fatal_condition.h
-
-// start catch_windows_h_proxy.h
-
-
-#if defined(CATCH_PLATFORM_WINDOWS)
-
-#if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX)
-#  define CATCH_DEFINED_NOMINMAX
-#  define NOMINMAX
-#endif
-#if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN)
-#  define CATCH_DEFINED_WIN32_LEAN_AND_MEAN
-#  define WIN32_LEAN_AND_MEAN
-#endif
-
-#ifdef __AFXDLL
-#include <AfxWin.h>
-#else
-#include <windows.h>
-#endif
-
-#ifdef CATCH_DEFINED_NOMINMAX
-#  undef NOMINMAX
-#endif
-#ifdef CATCH_DEFINED_WIN32_LEAN_AND_MEAN
-#  undef WIN32_LEAN_AND_MEAN
-#endif
-
-#endif // defined(CATCH_PLATFORM_WINDOWS)
-
-// end catch_windows_h_proxy.h
-#if defined( CATCH_CONFIG_WINDOWS_SEH )
-
-namespace Catch {
-
-    struct FatalConditionHandler {
-
-        static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo);
-        FatalConditionHandler();
-        static void reset();
-        ~FatalConditionHandler();
-
-    private:
-        static bool isSet;
-        static ULONG guaranteeSize;
-        static PVOID exceptionHandlerHandle;
-    };
-
-} // namespace Catch
-
-#elif defined ( CATCH_CONFIG_POSIX_SIGNALS )
-
-#include <signal.h>
-
-namespace Catch {
-
-    struct FatalConditionHandler {
-
-        static bool isSet;
-        static struct sigaction oldSigActions[];
-        static stack_t oldSigStack;
-        static char altStackMem[];
-
-        static void handleSignal( int sig );
-
-        FatalConditionHandler();
-        ~FatalConditionHandler();
-        static void reset();
-    };
-
-} // namespace Catch
-
-#else
-
-namespace Catch {
-    struct FatalConditionHandler {
-        void reset();
-    };
-}
-
-#endif
-
-// end catch_fatal_condition.h
-#include <string>
-
-namespace Catch {
-
-    struct IMutableContext;
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    class RunContext : public IResultCapture, public IRunner {
-
-    public:
-        RunContext( RunContext const& ) = delete;
-        RunContext& operator =( RunContext const& ) = delete;
-
-        explicit RunContext( IConfigPtr const& _config, IStreamingReporterPtr&& reporter );
-
-        ~RunContext() override;
-
-        void testGroupStarting( std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount );
-        void testGroupEnded( std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount );
-
-        Totals runTest(TestCase const& testCase);
-
-        IConfigPtr config() const;
-        IStreamingReporter& reporter() const;
-
-    public: // IResultCapture
-
-        // Assertion handlers
-        void handleExpr
-                (   AssertionInfo const& info,
-                    ITransientExpression const& expr,
-                    AssertionReaction& reaction ) override;
-        void handleMessage
-                (   AssertionInfo const& info,
-                    ResultWas::OfType resultType,
-                    StringRef const& message,
-                    AssertionReaction& reaction ) override;
-        void handleUnexpectedExceptionNotThrown
-                (   AssertionInfo const& info,
-                    AssertionReaction& reaction ) override;
-        void handleUnexpectedInflightException
-                (   AssertionInfo const& info,
-                    std::string const& message,
-                    AssertionReaction& reaction ) override;
-        void handleIncomplete
-                (   AssertionInfo const& info ) override;
-        void handleNonExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    AssertionReaction &reaction ) override;
-
-        bool sectionStarted( SectionInfo const& sectionInfo, Counts& assertions ) override;
-
-        void sectionEnded( SectionEndInfo const& endInfo ) override;
-        void sectionEndedEarly( SectionEndInfo const& endInfo ) override;
-
-        auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& override;
-
-        void benchmarkStarting( BenchmarkInfo const& info ) override;
-        void benchmarkEnded( BenchmarkStats const& stats ) override;
-
-        void pushScopedMessage( MessageInfo const& message ) override;
-        void popScopedMessage( MessageInfo const& message ) override;
-
-        std::string getCurrentTestName() const override;
-
-        const AssertionResult* getLastResult() const override;
-
-        void exceptionEarlyReported() override;
-
-        void handleFatalErrorCondition( StringRef message ) override;
-
-        bool lastAssertionPassed() override;
-
-        void assertionPassed() override;
-
-    public:
-        // !TBD We need to do this another way!
-        bool aborting() const final;
-
-    private:
-
-        void runCurrentTest( std::string& redirectedCout, std::string& redirectedCerr );
-        void invokeActiveTestCase();
-
-        void resetAssertionInfo();
-        bool testForMissingAssertions( Counts& assertions );
-
-        void assertionEnded( AssertionResult const& result );
-        void reportExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    ITransientExpression const *expr,
-                    bool negated );
-
-        void populateReaction( AssertionReaction& reaction );
-
-    private:
-
-        void handleUnfinishedSections();
-
-        TestRunInfo m_runInfo;
-        IMutableContext& m_context;
-        TestCase const* m_activeTestCase = nullptr;
-        ITracker* m_testCaseTracker;
-        Option<AssertionResult> m_lastResult;
-
-        IConfigPtr m_config;
-        Totals m_totals;
-        IStreamingReporterPtr m_reporter;
-        std::vector<MessageInfo> m_messages;
-        AssertionInfo m_lastAssertionInfo;
-        std::vector<SectionEndInfo> m_unfinishedSections;
-        std::vector<ITracker*> m_activeSections;
-        TrackerContext m_trackerContext;
-        bool m_lastAssertionPassed = false;
-        bool m_shouldReportUnexpected = true;
-        bool m_includeSuccessfulResults;
-    };
-
-} // end namespace Catch
-
-// end catch_run_context.h
-namespace Catch {
-
-    namespace {
-        auto operator <<( std::ostream& os, ITransientExpression const& expr ) -> std::ostream& {
-            expr.streamReconstructedExpression( os );
-            return os;
-        }
-    }
-
-    LazyExpression::LazyExpression( bool isNegated )
-    :   m_isNegated( isNegated )
-    {}
-
-    LazyExpression::LazyExpression( LazyExpression const& other ) : m_isNegated( other.m_isNegated ) {}
-
-    LazyExpression::operator bool() const {
-        return m_transientExpression != nullptr;
-    }
-
-    auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream& {
-        if( lazyExpr.m_isNegated )
-            os << "!";
-
-        if( lazyExpr ) {
-            if( lazyExpr.m_isNegated && lazyExpr.m_transientExpression->isBinaryExpression() )
-                os << "(" << *lazyExpr.m_transientExpression << ")";
-            else
-                os << *lazyExpr.m_transientExpression;
-        }
-        else {
-            os << "{** error - unchecked empty expression requested **}";
-        }
-        return os;
-    }
-
-    AssertionHandler::AssertionHandler
-        (   StringRef const& macroName,
-            SourceLineInfo const& lineInfo,
-            StringRef capturedExpression,
-            ResultDisposition::Flags resultDisposition )
-    :   m_assertionInfo{ macroName, lineInfo, capturedExpression, resultDisposition },
-        m_resultCapture( getResultCapture() )
-    {}
-
-    void AssertionHandler::handleExpr( ITransientExpression const& expr ) {
-        m_resultCapture.handleExpr( m_assertionInfo, expr, m_reaction );
-    }
-    void AssertionHandler::handleMessage(ResultWas::OfType resultType, StringRef const& message) {
-        m_resultCapture.handleMessage( m_assertionInfo, resultType, message, m_reaction );
-    }
-
-    auto AssertionHandler::allowThrows() const -> bool {
-        return getCurrentContext().getConfig()->allowThrows();
-    }
-
-    void AssertionHandler::complete() {
-        setCompleted();
-        if( m_reaction.shouldDebugBreak ) {
-
-            // If you find your debugger stopping you here then go one level up on the
-            // call-stack for the code that caused it (typically a failed assertion)
-
-            // (To go back to the test and change execution, jump over the throw, next)
-            CATCH_BREAK_INTO_DEBUGGER();
-        }
-        if (m_reaction.shouldThrow) {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-            throw Catch::TestFailureException();
-#else
-            CATCH_ERROR( "Test failure requires aborting test!" );
-#endif
-        }
-    }
-    void AssertionHandler::setCompleted() {
-        m_completed = true;
-    }
-
-    void AssertionHandler::handleUnexpectedInflightException() {
-        m_resultCapture.handleUnexpectedInflightException( m_assertionInfo, Catch::translateActiveException(), m_reaction );
-    }
-
-    void AssertionHandler::handleExceptionThrownAsExpected() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-    void AssertionHandler::handleExceptionNotThrownAsExpected() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-
-    void AssertionHandler::handleUnexpectedExceptionNotThrown() {
-        m_resultCapture.handleUnexpectedExceptionNotThrown( m_assertionInfo, m_reaction );
-    }
-
-    void AssertionHandler::handleThrowingCallSkipped() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-
-    // This is the overload that takes a string and infers the Equals matcher from it
-    // The more general overload, that takes any string matcher, is in catch_capture_matchers.cpp
-    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString  ) {
-        handleExceptionMatchExpr( handler, Matchers::Equals( str ), matcherString );
-    }
-
-} // namespace Catch
-// end catch_assertionhandler.cpp
-// start catch_assertionresult.cpp
-
-namespace Catch {
-    AssertionResultData::AssertionResultData(ResultWas::OfType _resultType, LazyExpression const & _lazyExpression):
-        lazyExpression(_lazyExpression),
-        resultType(_resultType) {}
-
-    std::string AssertionResultData::reconstructExpression() const {
-
-        if( reconstructedExpression.empty() ) {
-            if( lazyExpression ) {
-                ReusableStringStream rss;
-                rss << lazyExpression;
-                reconstructedExpression = rss.str();
-            }
-        }
-        return reconstructedExpression;
-    }
-
-    AssertionResult::AssertionResult( AssertionInfo const& info, AssertionResultData const& data )
-    :   m_info( info ),
-        m_resultData( data )
-    {}
-
-    // Result was a success
-    bool AssertionResult::succeeded() const {
-        return Catch::isOk( m_resultData.resultType );
-    }
-
-    // Result was a success, or failure is suppressed
-    bool AssertionResult::isOk() const {
-        return Catch::isOk( m_resultData.resultType ) || shouldSuppressFailure( m_info.resultDisposition );
-    }
-
-    ResultWas::OfType AssertionResult::getResultType() const {
-        return m_resultData.resultType;
-    }
-
-    bool AssertionResult::hasExpression() const {
-        return m_info.capturedExpression[0] != 0;
-    }
-
-    bool AssertionResult::hasMessage() const {
-        return !m_resultData.message.empty();
-    }
-
-    std::string AssertionResult::getExpression() const {
-        if( isFalseTest( m_info.resultDisposition ) )
-            return "!(" + m_info.capturedExpression + ")";
-        else
-            return m_info.capturedExpression;
-    }
-
-    std::string AssertionResult::getExpressionInMacro() const {
-        std::string expr;
-        if( m_info.macroName[0] == 0 )
-            expr = m_info.capturedExpression;
-        else {
-            expr.reserve( m_info.macroName.size() + m_info.capturedExpression.size() + 4 );
-            expr += m_info.macroName;
-            expr += "( ";
-            expr += m_info.capturedExpression;
-            expr += " )";
-        }
-        return expr;
-    }
-
-    bool AssertionResult::hasExpandedExpression() const {
-        return hasExpression() && getExpandedExpression() != getExpression();
-    }
-
-    std::string AssertionResult::getExpandedExpression() const {
-        std::string expr = m_resultData.reconstructExpression();
-        return expr.empty()
-                ? getExpression()
-                : expr;
-    }
-
-    std::string AssertionResult::getMessage() const {
-        return m_resultData.message;
-    }
-    SourceLineInfo AssertionResult::getSourceInfo() const {
-        return m_info.lineInfo;
-    }
-
-    StringRef AssertionResult::getTestMacroName() const {
-        return m_info.macroName;
-    }
-
-} // end namespace Catch
-// end catch_assertionresult.cpp
-// start catch_benchmark.cpp
-
-namespace Catch {
-
-    auto BenchmarkLooper::getResolution() -> uint64_t {
-        return getEstimatedClockResolution() * getCurrentContext().getConfig()->benchmarkResolutionMultiple();
-    }
-
-    void BenchmarkLooper::reportStart() {
-        getResultCapture().benchmarkStarting( { m_name } );
-    }
-    auto BenchmarkLooper::needsMoreIterations() -> bool {
-        auto elapsed = m_timer.getElapsedNanoseconds();
-
-        // Exponentially increasing iterations until we're confident in our timer resolution
-        if( elapsed < m_resolution ) {
-            m_iterationsToRun *= 10;
-            return true;
-        }
-
-        getResultCapture().benchmarkEnded( { { m_name }, m_count, elapsed } );
-        return false;
-    }
-
-} // end namespace Catch
-// end catch_benchmark.cpp
-// start catch_capture_matchers.cpp
-
-namespace Catch {
-
-    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
-
-    // This is the general overload that takes a any string matcher
-    // There is another overload, in catch_assertionhandler.h/.cpp, that only takes a string and infers
-    // the Equals matcher (so the header does not mention matchers)
-    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  ) {
-        std::string exceptionMessage = Catch::translateActiveException();
-        MatchExpr<std::string, StringMatcher const&> expr( exceptionMessage, matcher, matcherString );
-        handler.handleExpr( expr );
-    }
-
-} // namespace Catch
-// end catch_capture_matchers.cpp
-// start catch_commandline.cpp
-
-// start catch_commandline.h
-
-// start catch_clara.h
-
-// Use Catch's value for console width (store Clara's off to the side, if present)
-#ifdef CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#undef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#endif
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CONFIG_CONSOLE_WIDTH-1
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wweak-vtables"
-#pragma clang diagnostic ignored "-Wexit-time-destructors"
-#pragma clang diagnostic ignored "-Wshadow"
-#endif
-
-// start clara.hpp
-// Copyright 2017 Two Blue Cubes Ltd. All rights reserved.
-//
-// Distributed under the Boost Software License, Version 1.0. (See accompanying
-// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
-//
-// See https://github.com/philsquared/Clara for more details
-
-// Clara v1.1.5
-
-
-#ifndef CATCH_CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CLARA_CONFIG_CONSOLE_WIDTH
-#endif
-
-#ifndef CLARA_CONFIG_OPTIONAL_TYPE
-#ifdef __has_include
-#if __has_include(<optional>) && __cplusplus >= 201703L
-#include <optional>
-#define CLARA_CONFIG_OPTIONAL_TYPE std::optional
-#endif
-#endif
-#endif
-
-// ----------- #included from clara_textflow.hpp -----------
-
-// TextFlowCpp
-//
-// A single-header library for wrapping and laying out basic text, by Phil Nash
-//
-// Distributed under the Boost Software License, Version 1.0. (See accompanying
-// file LICENSE.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
-//
-// This project is hosted at https://github.com/philsquared/textflowcpp
-
-
-#include <cassert>
-#include <ostream>
-#include <sstream>
-#include <vector>
-
-#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-namespace Catch {
-namespace clara {
-namespace TextFlow {
-
-inline auto isWhitespace(char c) -> bool {
-	static std::string chars = " \t\n\r";
-	return chars.find(c) != std::string::npos;
-}
-inline auto isBreakableBefore(char c) -> bool {
-	static std::string chars = "[({<|";
-	return chars.find(c) != std::string::npos;
-}
-inline auto isBreakableAfter(char c) -> bool {
-	static std::string chars = "])}>.,:;*+-=&/\\";
-	return chars.find(c) != std::string::npos;
-}
-
-class Columns;
-
-class Column {
-	std::vector<std::string> m_strings;
-	size_t m_width = CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH;
-	size_t m_indent = 0;
-	size_t m_initialIndent = std::string::npos;
-
-public:
-	class iterator {
-		friend Column;
-
-		Column const& m_column;
-		size_t m_stringIndex = 0;
-		size_t m_pos = 0;
-
-		size_t m_len = 0;
-		size_t m_end = 0;
-		bool m_suffix = false;
-
-		iterator(Column const& column, size_t stringIndex)
-			: m_column(column),
-			m_stringIndex(stringIndex) {}
-
-		auto line() const -> std::string const& { return m_column.m_strings[m_stringIndex]; }
-
-		auto isBoundary(size_t at) const -> bool {
-			assert(at > 0);
-			assert(at <= line().size());
-
-			return at == line().size() ||
-				(isWhitespace(line()[at]) && !isWhitespace(line()[at - 1])) ||
-				isBreakableBefore(line()[at]) ||
-				isBreakableAfter(line()[at - 1]);
-		}
-
-		void calcLength() {
-			assert(m_stringIndex < m_column.m_strings.size());
-
-			m_suffix = false;
-			auto width = m_column.m_width - indent();
-			m_end = m_pos;
-			while (m_end < line().size() && line()[m_end] != '\n')
-				++m_end;
-
-			if (m_end < m_pos + width) {
-				m_len = m_end - m_pos;
-			} else {
-				size_t len = width;
-				while (len > 0 && !isBoundary(m_pos + len))
-					--len;
-				while (len > 0 && isWhitespace(line()[m_pos + len - 1]))
-					--len;
-
-				if (len > 0) {
-					m_len = len;
-				} else {
-					m_suffix = true;
-					m_len = width - 1;
-				}
-			}
-		}
-
-		auto indent() const -> size_t {
-			auto initial = m_pos == 0 && m_stringIndex == 0 ? m_column.m_initialIndent : std::string::npos;
-			return initial == std::string::npos ? m_column.m_indent : initial;
-		}
-
-		auto addIndentAndSuffix(std::string const &plain) const -> std::string {
-			return std::string(indent(), ' ') + (m_suffix ? plain + "-" : plain);
-		}
-
-	public:
-		using difference_type = std::ptrdiff_t;
-		using value_type = std::string;
-		using pointer = value_type * ;
-		using reference = value_type & ;
-		using iterator_category = std::forward_iterator_tag;
-
-		explicit iterator(Column const& column) : m_column(column) {
-			assert(m_column.m_width > m_column.m_indent);
-			assert(m_column.m_initialIndent == std::string::npos || m_column.m_width > m_column.m_initialIndent);
-			calcLength();
-			if (m_len == 0)
-				m_stringIndex++; // Empty string
-		}
-
-		auto operator *() const -> std::string {
-			assert(m_stringIndex < m_column.m_strings.size());
-			assert(m_pos <= m_end);
-			return addIndentAndSuffix(line().substr(m_pos, m_len));
-		}
-
-		auto operator ++() -> iterator& {
-			m_pos += m_len;
-			if (m_pos < line().size() && line()[m_pos] == '\n')
-				m_pos += 1;
-			else
-				while (m_pos < line().size() && isWhitespace(line()[m_pos]))
-					++m_pos;
-
-			if (m_pos == line().size()) {
-				m_pos = 0;
-				++m_stringIndex;
-			}
-			if (m_stringIndex < m_column.m_strings.size())
-				calcLength();
-			return *this;
-		}
-		auto operator ++(int) -> iterator {
-			iterator prev(*this);
-			operator++();
-			return prev;
-		}
-
-		auto operator ==(iterator const& other) const -> bool {
-			return
-				m_pos == other.m_pos &&
-				m_stringIndex == other.m_stringIndex &&
-				&m_column == &other.m_column;
-		}
-		auto operator !=(iterator const& other) const -> bool {
-			return !operator==(other);
-		}
-	};
-	using const_iterator = iterator;
-
-	explicit Column(std::string const& text) { m_strings.push_back(text); }
-
-	auto width(size_t newWidth) -> Column& {
-		assert(newWidth > 0);
-		m_width = newWidth;
-		return *this;
-	}
-	auto indent(size_t newIndent) -> Column& {
-		m_indent = newIndent;
-		return *this;
-	}
-	auto initialIndent(size_t newIndent) -> Column& {
-		m_initialIndent = newIndent;
-		return *this;
-	}
-
-	auto width() const -> size_t { return m_width; }
-	auto begin() const -> iterator { return iterator(*this); }
-	auto end() const -> iterator { return { *this, m_strings.size() }; }
-
-	inline friend std::ostream& operator << (std::ostream& os, Column const& col) {
-		bool first = true;
-		for (auto line : col) {
-			if (first)
-				first = false;
-			else
-				os << "\n";
-			os << line;
-		}
-		return os;
-	}
-
-	auto operator + (Column const& other)->Columns;
-
-	auto toString() const -> std::string {
-		std::ostringstream oss;
-		oss << *this;
-		return oss.str();
-	}
-};
-
-class Spacer : public Column {
-
-public:
-	explicit Spacer(size_t spaceWidth) : Column("") {
-		width(spaceWidth);
-	}
-};
-
-class Columns {
-	std::vector<Column> m_columns;
-
-public:
-
-	class iterator {
-		friend Columns;
-		struct EndTag {};
-
-		std::vector<Column> const& m_columns;
-		std::vector<Column::iterator> m_iterators;
-		size_t m_activeIterators;
-
-		iterator(Columns const& columns, EndTag)
-			: m_columns(columns.m_columns),
-			m_activeIterators(0) {
-			m_iterators.reserve(m_columns.size());
-
-			for (auto const& col : m_columns)
-				m_iterators.push_back(col.end());
-		}
-
-	public:
-		using difference_type = std::ptrdiff_t;
-		using value_type = std::string;
-		using pointer = value_type * ;
-		using reference = value_type & ;
-		using iterator_category = std::forward_iterator_tag;
-
-		explicit iterator(Columns const& columns)
-			: m_columns(columns.m_columns),
-			m_activeIterators(m_columns.size()) {
-			m_iterators.reserve(m_columns.size());
-
-			for (auto const& col : m_columns)
-				m_iterators.push_back(col.begin());
-		}
-
-		auto operator ==(iterator const& other) const -> bool {
-			return m_iterators == other.m_iterators;
-		}
-		auto operator !=(iterator const& other) const -> bool {
-			return m_iterators != other.m_iterators;
-		}
-		auto operator *() const -> std::string {
-			std::string row, padding;
-
-			for (size_t i = 0; i < m_columns.size(); ++i) {
-				auto width = m_columns[i].width();
-				if (m_iterators[i] != m_columns[i].end()) {
-					std::string col = *m_iterators[i];
-					row += padding + col;
-					if (col.size() < width)
-						padding = std::string(width - col.size(), ' ');
-					else
-						padding = "";
-				} else {
-					padding += std::string(width, ' ');
-				}
-			}
-			return row;
-		}
-		auto operator ++() -> iterator& {
-			for (size_t i = 0; i < m_columns.size(); ++i) {
-				if (m_iterators[i] != m_columns[i].end())
-					++m_iterators[i];
-			}
-			return *this;
-		}
-		auto operator ++(int) -> iterator {
-			iterator prev(*this);
-			operator++();
-			return prev;
-		}
-	};
-	using const_iterator = iterator;
-
-	auto begin() const -> iterator { return iterator(*this); }
-	auto end() const -> iterator { return { *this, iterator::EndTag() }; }
-
-	auto operator += (Column const& col) -> Columns& {
-		m_columns.push_back(col);
-		return *this;
-	}
-	auto operator + (Column const& col) -> Columns {
-		Columns combined = *this;
-		combined += col;
-		return combined;
-	}
-
-	inline friend std::ostream& operator << (std::ostream& os, Columns const& cols) {
-
-		bool first = true;
-		for (auto line : cols) {
-			if (first)
-				first = false;
-			else
-				os << "\n";
-			os << line;
-		}
-		return os;
-	}
-
-	auto toString() const -> std::string {
-		std::ostringstream oss;
-		oss << *this;
-		return oss.str();
-	}
-};
-
-inline auto Column::operator + (Column const& other) -> Columns {
-	Columns cols;
-	cols += *this;
-	cols += other;
-	return cols;
-}
-}
-
-}
-}
-
-// ----------- end of #include from clara_textflow.hpp -----------
-// ........... back in clara.hpp
-
-#include <string>
-#include <memory>
-#include <set>
-#include <algorithm>
-
-#if !defined(CATCH_PLATFORM_WINDOWS) && ( defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) )
-#define CATCH_PLATFORM_WINDOWS
-#endif
-
-namespace Catch { namespace clara {
-namespace detail {
-
-    // Traits for extracting arg and return type of lambdas (for single argument lambdas)
-    template<typename L>
-    struct UnaryLambdaTraits : UnaryLambdaTraits<decltype( &L::operator() )> {};
-
-    template<typename ClassT, typename ReturnT, typename... Args>
-    struct UnaryLambdaTraits<ReturnT( ClassT::* )( Args... ) const> {
-        static const bool isValid = false;
-    };
-
-    template<typename ClassT, typename ReturnT, typename ArgT>
-    struct UnaryLambdaTraits<ReturnT( ClassT::* )( ArgT ) const> {
-        static const bool isValid = true;
-        using ArgType = typename std::remove_const<typename std::remove_reference<ArgT>::type>::type;
-        using ReturnType = ReturnT;
-    };
-
-    class TokenStream;
-
-    // Transport for raw args (copied from main args, or supplied via init list for testing)
-    class Args {
-        friend TokenStream;
-        std::string m_exeName;
-        std::vector<std::string> m_args;
-
-    public:
-        Args( int argc, char const* const* argv )
-            : m_exeName(argv[0]),
-              m_args(argv + 1, argv + argc) {}
-
-        Args( std::initializer_list<std::string> args )
-        :   m_exeName( *args.begin() ),
-            m_args( args.begin()+1, args.end() )
-        {}
-
-        auto exeName() const -> std::string {
-            return m_exeName;
-        }
-    };
-
-    // Wraps a token coming from a token stream. These may not directly correspond to strings as a single string
-    // may encode an option + its argument if the : or = form is used
-    enum class TokenType {
-        Option, Argument
-    };
-    struct Token {
-        TokenType type;
-        std::string token;
-    };
-
-    inline auto isOptPrefix( char c ) -> bool {
-        return c == '-'
-#ifdef CATCH_PLATFORM_WINDOWS
-            || c == '/'
-#endif
-        ;
-    }
-
-    // Abstracts iterators into args as a stream of tokens, with option arguments uniformly handled
-    class TokenStream {
-        using Iterator = std::vector<std::string>::const_iterator;
-        Iterator it;
-        Iterator itEnd;
-        std::vector<Token> m_tokenBuffer;
-
-        void loadBuffer() {
-            m_tokenBuffer.resize( 0 );
-
-            // Skip any empty strings
-            while( it != itEnd && it->empty() )
-                ++it;
-
-            if( it != itEnd ) {
-                auto const &next = *it;
-                if( isOptPrefix( next[0] ) ) {
-                    auto delimiterPos = next.find_first_of( " :=" );
-                    if( delimiterPos != std::string::npos ) {
-                        m_tokenBuffer.push_back( { TokenType::Option, next.substr( 0, delimiterPos ) } );
-                        m_tokenBuffer.push_back( { TokenType::Argument, next.substr( delimiterPos + 1 ) } );
-                    } else {
-                        if( next[1] != '-' && next.size() > 2 ) {
-                            std::string opt = "- ";
-                            for( size_t i = 1; i < next.size(); ++i ) {
-                                opt[1] = next[i];
-                                m_tokenBuffer.push_back( { TokenType::Option, opt } );
-                            }
-                        } else {
-                            m_tokenBuffer.push_back( { TokenType::Option, next } );
-                        }
-                    }
-                } else {
-                    m_tokenBuffer.push_back( { TokenType::Argument, next } );
-                }
-            }
-        }
-
-    public:
-        explicit TokenStream( Args const &args ) : TokenStream( args.m_args.begin(), args.m_args.end() ) {}
-
-        TokenStream( Iterator it, Iterator itEnd ) : it( it ), itEnd( itEnd ) {
-            loadBuffer();
-        }
-
-        explicit operator bool() const {
-            return !m_tokenBuffer.empty() || it != itEnd;
-        }
-
-        auto count() const -> size_t { return m_tokenBuffer.size() + (itEnd - it); }
-
-        auto operator*() const -> Token {
-            assert( !m_tokenBuffer.empty() );
-            return m_tokenBuffer.front();
-        }
-
-        auto operator->() const -> Token const * {
-            assert( !m_tokenBuffer.empty() );
-            return &m_tokenBuffer.front();
-        }
-
-        auto operator++() -> TokenStream & {
-            if( m_tokenBuffer.size() >= 2 ) {
-                m_tokenBuffer.erase( m_tokenBuffer.begin() );
-            } else {
-                if( it != itEnd )
-                    ++it;
-                loadBuffer();
-            }
-            return *this;
-        }
-    };
-
-    class ResultBase {
-    public:
-        enum Type {
-            Ok, LogicError, RuntimeError
-        };
-
-    protected:
-        ResultBase( Type type ) : m_type( type ) {}
-        virtual ~ResultBase() = default;
-
-        virtual void enforceOk() const = 0;
-
-        Type m_type;
-    };
-
-    template<typename T>
-    class ResultValueBase : public ResultBase {
-    public:
-        auto value() const -> T const & {
-            enforceOk();
-            return m_value;
-        }
-
-    protected:
-        ResultValueBase( Type type ) : ResultBase( type ) {}
-
-        ResultValueBase( ResultValueBase const &other ) : ResultBase( other ) {
-            if( m_type == ResultBase::Ok )
-                new( &m_value ) T( other.m_value );
-        }
-
-        ResultValueBase( Type, T const &value ) : ResultBase( Ok ) {
-            new( &m_value ) T( value );
-        }
-
-        auto operator=( ResultValueBase const &other ) -> ResultValueBase & {
-            if( m_type == ResultBase::Ok )
-                m_value.~T();
-            ResultBase::operator=(other);
-            if( m_type == ResultBase::Ok )
-                new( &m_value ) T( other.m_value );
-            return *this;
-        }
-
-        ~ResultValueBase() override {
-            if( m_type == Ok )
-                m_value.~T();
-        }
-
-        union {
-            T m_value;
-        };
-    };
-
-    template<>
-    class ResultValueBase<void> : public ResultBase {
-    protected:
-        using ResultBase::ResultBase;
-    };
-
-    template<typename T = void>
-    class BasicResult : public ResultValueBase<T> {
-    public:
-        template<typename U>
-        explicit BasicResult( BasicResult<U> const &other )
-        :   ResultValueBase<T>( other.type() ),
-            m_errorMessage( other.errorMessage() )
-        {
-            assert( type() != ResultBase::Ok );
-        }
-
-        template<typename U>
-        static auto ok( U const &value ) -> BasicResult { return { ResultBase::Ok, value }; }
-        static auto ok() -> BasicResult { return { ResultBase::Ok }; }
-        static auto logicError( std::string const &message ) -> BasicResult { return { ResultBase::LogicError, message }; }
-        static auto runtimeError( std::string const &message ) -> BasicResult { return { ResultBase::RuntimeError, message }; }
-
-        explicit operator bool() const { return m_type == ResultBase::Ok; }
-        auto type() const -> ResultBase::Type { return m_type; }
-        auto errorMessage() const -> std::string { return m_errorMessage; }
-
-    protected:
-        void enforceOk() const override {
-
-            // Errors shouldn't reach this point, but if they do
-            // the actual error message will be in m_errorMessage
-            assert( m_type != ResultBase::LogicError );
-            assert( m_type != ResultBase::RuntimeError );
-            if( m_type != ResultBase::Ok )
-                std::abort();
-        }
-
-        std::string m_errorMessage; // Only populated if resultType is an error
-
-        BasicResult( ResultBase::Type type, std::string const &message )
-        :   ResultValueBase<T>(type),
-            m_errorMessage(message)
-        {
-            assert( m_type != ResultBase::Ok );
-        }
-
-        using ResultValueBase<T>::ResultValueBase;
-        using ResultBase::m_type;
-    };
-
-    enum class ParseResultType {
-        Matched, NoMatch, ShortCircuitAll, ShortCircuitSame
-    };
-
-    class ParseState {
-    public:
-
-        ParseState( ParseResultType type, TokenStream const &remainingTokens )
-        : m_type(type),
-          m_remainingTokens( remainingTokens )
-        {}
-
-        auto type() const -> ParseResultType { return m_type; }
-        auto remainingTokens() const -> TokenStream { return m_remainingTokens; }
-
-    private:
-        ParseResultType m_type;
-        TokenStream m_remainingTokens;
-    };
-
-    using Result = BasicResult<void>;
-    using ParserResult = BasicResult<ParseResultType>;
-    using InternalParseResult = BasicResult<ParseState>;
-
-    struct HelpColumns {
-        std::string left;
-        std::string right;
-    };
-
-    template<typename T>
-    inline auto convertInto( std::string const &source, T& target ) -> ParserResult {
-        std::stringstream ss;
-        ss << source;
-        ss >> target;
-        if( ss.fail() )
-            return ParserResult::runtimeError( "Unable to convert '" + source + "' to destination type" );
-        else
-            return ParserResult::ok( ParseResultType::Matched );
-    }
-    inline auto convertInto( std::string const &source, std::string& target ) -> ParserResult {
-        target = source;
-        return ParserResult::ok( ParseResultType::Matched );
-    }
-    inline auto convertInto( std::string const &source, bool &target ) -> ParserResult {
-        std::string srcLC = source;
-        std::transform( srcLC.begin(), srcLC.end(), srcLC.begin(), []( char c ) { return static_cast<char>( ::tolower(c) ); } );
-        if (srcLC == "y" || srcLC == "1" || srcLC == "true" || srcLC == "yes" || srcLC == "on")
-            target = true;
-        else if (srcLC == "n" || srcLC == "0" || srcLC == "false" || srcLC == "no" || srcLC == "off")
-            target = false;
-        else
-            return ParserResult::runtimeError( "Expected a boolean value but did not recognise: '" + source + "'" );
-        return ParserResult::ok( ParseResultType::Matched );
-    }
-#ifdef CLARA_CONFIG_OPTIONAL_TYPE
-    template<typename T>
-    inline auto convertInto( std::string const &source, CLARA_CONFIG_OPTIONAL_TYPE<T>& target ) -> ParserResult {
-        T temp;
-        auto result = convertInto( source, temp );
-        if( result )
-            target = std::move(temp);
-        return result;
-    }
-#endif // CLARA_CONFIG_OPTIONAL_TYPE
-
-    struct NonCopyable {
-        NonCopyable() = default;
-        NonCopyable( NonCopyable const & ) = delete;
-        NonCopyable( NonCopyable && ) = delete;
-        NonCopyable &operator=( NonCopyable const & ) = delete;
-        NonCopyable &operator=( NonCopyable && ) = delete;
-    };
-
-    struct BoundRef : NonCopyable {
-        virtual ~BoundRef() = default;
-        virtual auto isContainer() const -> bool { return false; }
-        virtual auto isFlag() const -> bool { return false; }
-    };
-    struct BoundValueRefBase : BoundRef {
-        virtual auto setValue( std::string const &arg ) -> ParserResult = 0;
-    };
-    struct BoundFlagRefBase : BoundRef {
-        virtual auto setFlag( bool flag ) -> ParserResult = 0;
-        virtual auto isFlag() const -> bool { return true; }
-    };
-
-    template<typename T>
-    struct BoundValueRef : BoundValueRefBase {
-        T &m_ref;
-
-        explicit BoundValueRef( T &ref ) : m_ref( ref ) {}
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            return convertInto( arg, m_ref );
-        }
-    };
-
-    template<typename T>
-    struct BoundValueRef<std::vector<T>> : BoundValueRefBase {
-        std::vector<T> &m_ref;
-
-        explicit BoundValueRef( std::vector<T> &ref ) : m_ref( ref ) {}
-
-        auto isContainer() const -> bool override { return true; }
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            T temp;
-            auto result = convertInto( arg, temp );
-            if( result )
-                m_ref.push_back( temp );
-            return result;
-        }
-    };
-
-    struct BoundFlagRef : BoundFlagRefBase {
-        bool &m_ref;
-
-        explicit BoundFlagRef( bool &ref ) : m_ref( ref ) {}
-
-        auto setFlag( bool flag ) -> ParserResult override {
-            m_ref = flag;
-            return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    template<typename ReturnType>
-    struct LambdaInvoker {
-        static_assert( std::is_same<ReturnType, ParserResult>::value, "Lambda must return void or clara::ParserResult" );
-
-        template<typename L, typename ArgType>
-        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
-            return lambda( arg );
-        }
-    };
-
-    template<>
-    struct LambdaInvoker<void> {
-        template<typename L, typename ArgType>
-        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
-            lambda( arg );
-            return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    template<typename ArgType, typename L>
-    inline auto invokeLambda( L const &lambda, std::string const &arg ) -> ParserResult {
-        ArgType temp{};
-        auto result = convertInto( arg, temp );
-        return !result
-           ? result
-           : LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( lambda, temp );
-    }
-
-    template<typename L>
-    struct BoundLambda : BoundValueRefBase {
-        L m_lambda;
-
-        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
-        explicit BoundLambda( L const &lambda ) : m_lambda( lambda ) {}
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            return invokeLambda<typename UnaryLambdaTraits<L>::ArgType>( m_lambda, arg );
-        }
-    };
-
-    template<typename L>
-    struct BoundFlagLambda : BoundFlagRefBase {
-        L m_lambda;
-
-        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
-        static_assert( std::is_same<typename UnaryLambdaTraits<L>::ArgType, bool>::value, "flags must be boolean" );
-
-        explicit BoundFlagLambda( L const &lambda ) : m_lambda( lambda ) {}
-
-        auto setFlag( bool flag ) -> ParserResult override {
-            return LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( m_lambda, flag );
-        }
-    };
-
-    enum class Optionality { Optional, Required };
-
-    struct Parser;
-
-    class ParserBase {
-    public:
-        virtual ~ParserBase() = default;
-        virtual auto validate() const -> Result { return Result::ok(); }
-        virtual auto parse( std::string const& exeName, TokenStream const &tokens) const -> InternalParseResult  = 0;
-        virtual auto cardinality() const -> size_t { return 1; }
-
-        auto parse( Args const &args ) const -> InternalParseResult {
-            return parse( args.exeName(), TokenStream( args ) );
-        }
-    };
-
-    template<typename DerivedT>
-    class ComposableParserImpl : public ParserBase {
-    public:
-        template<typename T>
-        auto operator|( T const &other ) const -> Parser;
-
-		template<typename T>
-        auto operator+( T const &other ) const -> Parser;
-    };
-
-    // Common code and state for Args and Opts
-    template<typename DerivedT>
-    class ParserRefImpl : public ComposableParserImpl<DerivedT> {
-    protected:
-        Optionality m_optionality = Optionality::Optional;
-        std::shared_ptr<BoundRef> m_ref;
-        std::string m_hint;
-        std::string m_description;
-
-        explicit ParserRefImpl( std::shared_ptr<BoundRef> const &ref ) : m_ref( ref ) {}
-
-    public:
-        template<typename T>
-        ParserRefImpl( T &ref, std::string const &hint )
-        :   m_ref( std::make_shared<BoundValueRef<T>>( ref ) ),
-            m_hint( hint )
-        {}
-
-        template<typename LambdaT>
-        ParserRefImpl( LambdaT const &ref, std::string const &hint )
-        :   m_ref( std::make_shared<BoundLambda<LambdaT>>( ref ) ),
-            m_hint(hint)
-        {}
-
-        auto operator()( std::string const &description ) -> DerivedT & {
-            m_description = description;
-            return static_cast<DerivedT &>( *this );
-        }
-
-        auto optional() -> DerivedT & {
-            m_optionality = Optionality::Optional;
-            return static_cast<DerivedT &>( *this );
-        };
-
-        auto required() -> DerivedT & {
-            m_optionality = Optionality::Required;
-            return static_cast<DerivedT &>( *this );
-        };
-
-        auto isOptional() const -> bool {
-            return m_optionality == Optionality::Optional;
-        }
-
-        auto cardinality() const -> size_t override {
-            if( m_ref->isContainer() )
-                return 0;
-            else
-                return 1;
-        }
-
-        auto hint() const -> std::string { return m_hint; }
-    };
-
-    class ExeName : public ComposableParserImpl<ExeName> {
-        std::shared_ptr<std::string> m_name;
-        std::shared_ptr<BoundValueRefBase> m_ref;
-
-        template<typename LambdaT>
-        static auto makeRef(LambdaT const &lambda) -> std::shared_ptr<BoundValueRefBase> {
-            return std::make_shared<BoundLambda<LambdaT>>( lambda) ;
-        }
-
-    public:
-        ExeName() : m_name( std::make_shared<std::string>( "<executable>" ) ) {}
-
-        explicit ExeName( std::string &ref ) : ExeName() {
-            m_ref = std::make_shared<BoundValueRef<std::string>>( ref );
-        }
-
-        template<typename LambdaT>
-        explicit ExeName( LambdaT const& lambda ) : ExeName() {
-            m_ref = std::make_shared<BoundLambda<LambdaT>>( lambda );
-        }
-
-        // The exe name is not parsed out of the normal tokens, but is handled specially
-        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
-            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
-        }
-
-        auto name() const -> std::string { return *m_name; }
-        auto set( std::string const& newName ) -> ParserResult {
-
-            auto lastSlash = newName.find_last_of( "\\/" );
-            auto filename = ( lastSlash == std::string::npos )
-                    ? newName
-                    : newName.substr( lastSlash+1 );
-
-            *m_name = filename;
-            if( m_ref )
-                return m_ref->setValue( filename );
-            else
-                return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    class Arg : public ParserRefImpl<Arg> {
-    public:
-        using ParserRefImpl::ParserRefImpl;
-
-        auto parse( std::string const &, TokenStream const &tokens ) const -> InternalParseResult override {
-            auto validationResult = validate();
-            if( !validationResult )
-                return InternalParseResult( validationResult );
-
-            auto remainingTokens = tokens;
-            auto const &token = *remainingTokens;
-            if( token.type != TokenType::Argument )
-                return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
-
-            assert( !m_ref->isFlag() );
-            auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
-
-            auto result = valueRef->setValue( remainingTokens->token );
-            if( !result )
-                return InternalParseResult( result );
-            else
-                return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
-        }
-    };
-
-    inline auto normaliseOpt( std::string const &optName ) -> std::string {
-#ifdef CATCH_PLATFORM_WINDOWS
-        if( optName[0] == '/' )
-            return "-" + optName.substr( 1 );
-        else
-#endif
-            return optName;
-    }
-
-    class Opt : public ParserRefImpl<Opt> {
-    protected:
-        std::vector<std::string> m_optNames;
-
-    public:
-        template<typename LambdaT>
-        explicit Opt( LambdaT const &ref ) : ParserRefImpl( std::make_shared<BoundFlagLambda<LambdaT>>( ref ) ) {}
-
-        explicit Opt( bool &ref ) : ParserRefImpl( std::make_shared<BoundFlagRef>( ref ) ) {}
-
-        template<typename LambdaT>
-        Opt( LambdaT const &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
-
-        template<typename T>
-        Opt( T &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
-
-        auto operator[]( std::string const &optName ) -> Opt & {
-            m_optNames.push_back( optName );
-            return *this;
-        }
-
-        auto getHelpColumns() const -> std::vector<HelpColumns> {
-            std::ostringstream oss;
-            bool first = true;
-            for( auto const &opt : m_optNames ) {
-                if (first)
-                    first = false;
-                else
-                    oss << ", ";
-                oss << opt;
-            }
-            if( !m_hint.empty() )
-                oss << " <" << m_hint << ">";
-            return { { oss.str(), m_description } };
-        }
-
-        auto isMatch( std::string const &optToken ) const -> bool {
-            auto normalisedToken = normaliseOpt( optToken );
-            for( auto const &name : m_optNames ) {
-                if( normaliseOpt( name ) == normalisedToken )
-                    return true;
-            }
-            return false;
-        }
-
-        using ParserBase::parse;
-
-        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
-            auto validationResult = validate();
-            if( !validationResult )
-                return InternalParseResult( validationResult );
-
-            auto remainingTokens = tokens;
-            if( remainingTokens && remainingTokens->type == TokenType::Option ) {
-                auto const &token = *remainingTokens;
-                if( isMatch(token.token ) ) {
-                    if( m_ref->isFlag() ) {
-                        auto flagRef = static_cast<detail::BoundFlagRefBase*>( m_ref.get() );
-                        auto result = flagRef->setFlag( true );
-                        if( !result )
-                            return InternalParseResult( result );
-                        if( result.value() == ParseResultType::ShortCircuitAll )
-                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
-                    } else {
-                        auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
-                        ++remainingTokens;
-                        if( !remainingTokens )
-                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
-                        auto const &argToken = *remainingTokens;
-                        if( argToken.type != TokenType::Argument )
-                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
-                        auto result = valueRef->setValue( argToken.token );
-                        if( !result )
-                            return InternalParseResult( result );
-                        if( result.value() == ParseResultType::ShortCircuitAll )
-                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
-                    }
-                    return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
-                }
-            }
-            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
-        }
-
-        auto validate() const -> Result override {
-            if( m_optNames.empty() )
-                return Result::logicError( "No options supplied to Opt" );
-            for( auto const &name : m_optNames ) {
-                if( name.empty() )
-                    return Result::logicError( "Option name cannot be empty" );
-#ifdef CATCH_PLATFORM_WINDOWS
-                if( name[0] != '-' && name[0] != '/' )
-                    return Result::logicError( "Option name must begin with '-' or '/'" );
-#else
-                if( name[0] != '-' )
-                    return Result::logicError( "Option name must begin with '-'" );
-#endif
-            }
-            return ParserRefImpl::validate();
-        }
-    };
-
-    struct Help : Opt {
-        Help( bool &showHelpFlag )
-        :   Opt([&]( bool flag ) {
-                showHelpFlag = flag;
-                return ParserResult::ok( ParseResultType::ShortCircuitAll );
-            })
-        {
-            static_cast<Opt &>( *this )
-                    ("display usage information")
-                    ["-?"]["-h"]["--help"]
-                    .optional();
-        }
-    };
-
-    struct Parser : ParserBase {
-
-        mutable ExeName m_exeName;
-        std::vector<Opt> m_options;
-        std::vector<Arg> m_args;
-
-        auto operator|=( ExeName const &exeName ) -> Parser & {
-            m_exeName = exeName;
-            return *this;
-        }
-
-        auto operator|=( Arg const &arg ) -> Parser & {
-            m_args.push_back(arg);
-            return *this;
-        }
-
-        auto operator|=( Opt const &opt ) -> Parser & {
-            m_options.push_back(opt);
-            return *this;
-        }
-
-        auto operator|=( Parser const &other ) -> Parser & {
-            m_options.insert(m_options.end(), other.m_options.begin(), other.m_options.end());
-            m_args.insert(m_args.end(), other.m_args.begin(), other.m_args.end());
-            return *this;
-        }
-
-        template<typename T>
-        auto operator|( T const &other ) const -> Parser {
-            return Parser( *this ) |= other;
-        }
-
-        // Forward deprecated interface with '+' instead of '|'
-        template<typename T>
-        auto operator+=( T const &other ) -> Parser & { return operator|=( other ); }
-        template<typename T>
-        auto operator+( T const &other ) const -> Parser { return operator|( other ); }
-
-        auto getHelpColumns() const -> std::vector<HelpColumns> {
-            std::vector<HelpColumns> cols;
-            for (auto const &o : m_options) {
-                auto childCols = o.getHelpColumns();
-                cols.insert( cols.end(), childCols.begin(), childCols.end() );
-            }
-            return cols;
-        }
-
-        void writeToStream( std::ostream &os ) const {
-            if (!m_exeName.name().empty()) {
-                os << "usage:\n" << "  " << m_exeName.name() << " ";
-                bool required = true, first = true;
-                for( auto const &arg : m_args ) {
-                    if (first)
-                        first = false;
-                    else
-                        os << " ";
-                    if( arg.isOptional() && required ) {
-                        os << "[";
-                        required = false;
-                    }
-                    os << "<" << arg.hint() << ">";
-                    if( arg.cardinality() == 0 )
-                        os << " ... ";
-                }
-                if( !required )
-                    os << "]";
-                if( !m_options.empty() )
-                    os << " options";
-                os << "\n\nwhere options are:" << std::endl;
-            }
-
-            auto rows = getHelpColumns();
-            size_t consoleWidth = CATCH_CLARA_CONFIG_CONSOLE_WIDTH;
-            size_t optWidth = 0;
-            for( auto const &cols : rows )
-                optWidth = (std::max)(optWidth, cols.left.size() + 2);
-
-            optWidth = (std::min)(optWidth, consoleWidth/2);
-
-            for( auto const &cols : rows ) {
-                auto row =
-                        TextFlow::Column( cols.left ).width( optWidth ).indent( 2 ) +
-                        TextFlow::Spacer(4) +
-                        TextFlow::Column( cols.right ).width( consoleWidth - 7 - optWidth );
-                os << row << std::endl;
-            }
-        }
-
-        friend auto operator<<( std::ostream &os, Parser const &parser ) -> std::ostream& {
-            parser.writeToStream( os );
-            return os;
-        }
-
-        auto validate() const -> Result override {
-            for( auto const &opt : m_options ) {
-                auto result = opt.validate();
-                if( !result )
-                    return result;
-            }
-            for( auto const &arg : m_args ) {
-                auto result = arg.validate();
-                if( !result )
-                    return result;
-            }
-            return Result::ok();
-        }
-
-        using ParserBase::parse;
-
-        auto parse( std::string const& exeName, TokenStream const &tokens ) const -> InternalParseResult override {
-
-            struct ParserInfo {
-                ParserBase const* parser = nullptr;
-                size_t count = 0;
-            };
-            const size_t totalParsers = m_options.size() + m_args.size();
-            assert( totalParsers < 512 );
-            // ParserInfo parseInfos[totalParsers]; // <-- this is what we really want to do
-            ParserInfo parseInfos[512];
-
-            {
-                size_t i = 0;
-                for (auto const &opt : m_options) parseInfos[i++].parser = &opt;
-                for (auto const &arg : m_args) parseInfos[i++].parser = &arg;
-            }
-
-            m_exeName.set( exeName );
-
-            auto result = InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
-            while( result.value().remainingTokens() ) {
-                bool tokenParsed = false;
-
-                for( size_t i = 0; i < totalParsers; ++i ) {
-                    auto&  parseInfo = parseInfos[i];
-                    if( parseInfo.parser->cardinality() == 0 || parseInfo.count < parseInfo.parser->cardinality() ) {
-                        result = parseInfo.parser->parse(exeName, result.value().remainingTokens());
-                        if (!result)
-                            return result;
-                        if (result.value().type() != ParseResultType::NoMatch) {
-                            tokenParsed = true;
-                            ++parseInfo.count;
-                            break;
-                        }
-                    }
-                }
-
-                if( result.value().type() == ParseResultType::ShortCircuitAll )
-                    return result;
-                if( !tokenParsed )
-                    return InternalParseResult::runtimeError( "Unrecognised token: " + result.value().remainingTokens()->token );
-            }
-            // !TBD Check missing required options
-            return result;
-        }
-    };
-
-    template<typename DerivedT>
-    template<typename T>
-    auto ComposableParserImpl<DerivedT>::operator|( T const &other ) const -> Parser {
-        return Parser() | static_cast<DerivedT const &>( *this ) | other;
-    }
-} // namespace detail
-
-// A Combined parser
-using detail::Parser;
-
-// A parser for options
-using detail::Opt;
-
-// A parser for arguments
-using detail::Arg;
-
-// Wrapper for argc, argv from main()
-using detail::Args;
-
-// Specifies the name of the executable
-using detail::ExeName;
-
-// Convenience wrapper for option parser that specifies the help option
-using detail::Help;
-
-// enum of result types from a parse
-using detail::ParseResultType;
-
-// Result type for parser operation
-using detail::ParserResult;
-
-}} // namespace Catch::clara
-
-// end clara.hpp
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// Restore Clara's value for console width, if present
-#ifdef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#undef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#endif
-
-// end catch_clara.h
-namespace Catch {
-
-    clara::Parser makeCommandLineParser( ConfigData& config );
-
-} // end namespace Catch
-
-// end catch_commandline.h
-#include <fstream>
-#include <ctime>
-
-namespace Catch {
-
-    clara::Parser makeCommandLineParser( ConfigData& config ) {
-
-        using namespace clara;
-
-        auto const setWarning = [&]( std::string const& warning ) {
-                auto warningSet = [&]() {
-                    if( warning == "NoAssertions" )
-                        return WarnAbout::NoAssertions;
-
-                    if ( warning == "NoTests" )
-                        return WarnAbout::NoTests;
-
-                    return WarnAbout::Nothing;
-                }();
-
-                if (warningSet == WarnAbout::Nothing)
-                    return ParserResult::runtimeError( "Unrecognised warning: '" + warning + "'" );
-                config.warnings = static_cast<WarnAbout::What>( config.warnings | warningSet );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const loadTestNamesFromFile = [&]( std::string const& filename ) {
-                std::ifstream f( filename.c_str() );
-                if( !f.is_open() )
-                    return ParserResult::runtimeError( "Unable to load input file: '" + filename + "'" );
-
-                std::string line;
-                while( std::getline( f, line ) ) {
-                    line = trim(line);
-                    if( !line.empty() && !startsWith( line, '#' ) ) {
-                        if( !startsWith( line, '"' ) )
-                            line = '"' + line + '"';
-                        config.testsOrTags.push_back( line + ',' );
-                    }
-                }
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setTestOrder = [&]( std::string const& order ) {
-                if( startsWith( "declared", order ) )
-                    config.runOrder = RunTests::InDeclarationOrder;
-                else if( startsWith( "lexical", order ) )
-                    config.runOrder = RunTests::InLexicographicalOrder;
-                else if( startsWith( "random", order ) )
-                    config.runOrder = RunTests::InRandomOrder;
-                else
-                    return clara::ParserResult::runtimeError( "Unrecognised ordering: '" + order + "'" );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setRngSeed = [&]( std::string const& seed ) {
-                if( seed != "time" )
-                    return clara::detail::convertInto( seed, config.rngSeed );
-                config.rngSeed = static_cast<unsigned int>( std::time(nullptr) );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setColourUsage = [&]( std::string const& useColour ) {
-                    auto mode = toLower( useColour );
-
-                    if( mode == "yes" )
-                        config.useColour = UseColour::Yes;
-                    else if( mode == "no" )
-                        config.useColour = UseColour::No;
-                    else if( mode == "auto" )
-                        config.useColour = UseColour::Auto;
-                    else
-                        return ParserResult::runtimeError( "colour mode must be one of: auto, yes or no. '" + useColour + "' not recognised" );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setWaitForKeypress = [&]( std::string const& keypress ) {
-                auto keypressLc = toLower( keypress );
-                if( keypressLc == "start" )
-                    config.waitForKeypress = WaitForKeypress::BeforeStart;
-                else if( keypressLc == "exit" )
-                    config.waitForKeypress = WaitForKeypress::BeforeExit;
-                else if( keypressLc == "both" )
-                    config.waitForKeypress = WaitForKeypress::BeforeStartAndExit;
-                else
-                    return ParserResult::runtimeError( "keypress argument must be one of: start, exit or both. '" + keypress + "' not recognised" );
-            return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setVerbosity = [&]( std::string const& verbosity ) {
-            auto lcVerbosity = toLower( verbosity );
-            if( lcVerbosity == "quiet" )
-                config.verbosity = Verbosity::Quiet;
-            else if( lcVerbosity == "normal" )
-                config.verbosity = Verbosity::Normal;
-            else if( lcVerbosity == "high" )
-                config.verbosity = Verbosity::High;
-            else
-                return ParserResult::runtimeError( "Unrecognised verbosity, '" + verbosity + "'" );
-            return ParserResult::ok( ParseResultType::Matched );
-        };
-        auto const setReporter = [&]( std::string const& reporter ) {
-            IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
-
-            auto lcReporter = toLower( reporter );
-            auto result = factories.find( lcReporter );
-
-            if( factories.end() != result )
-                config.reporterName = lcReporter;
-            else
-                return ParserResult::runtimeError( "Unrecognized reporter, '" + reporter + "'. Check available with --list-reporters" );
-            return ParserResult::ok( ParseResultType::Matched );
-        };
-
-        auto cli
-            = ExeName( config.processName )
-            | Help( config.showHelp )
-            | Opt( config.listTests )
-                ["-l"]["--list-tests"]
-                ( "list all/matching test cases" )
-            | Opt( config.listTags )
-                ["-t"]["--list-tags"]
-                ( "list all/matching tags" )
-            | Opt( config.showSuccessfulTests )
-                ["-s"]["--success"]
-                ( "include successful tests in output" )
-            | Opt( config.shouldDebugBreak )
-                ["-b"]["--break"]
-                ( "break into debugger on failure" )
-            | Opt( config.noThrow )
-                ["-e"]["--nothrow"]
-                ( "skip exception tests" )
-            | Opt( config.showInvisibles )
-                ["-i"]["--invisibles"]
-                ( "show invisibles (tabs, newlines)" )
-            | Opt( config.outputFilename, "filename" )
-                ["-o"]["--out"]
-                ( "output filename" )
-            | Opt( setReporter, "name" )
-                ["-r"]["--reporter"]
-                ( "reporter to use (defaults to console)" )
-            | Opt( config.name, "name" )
-                ["-n"]["--name"]
-                ( "suite name" )
-            | Opt( [&]( bool ){ config.abortAfter = 1; } )
-                ["-a"]["--abort"]
-                ( "abort at first failure" )
-            | Opt( [&]( int x ){ config.abortAfter = x; }, "no. failures" )
-                ["-x"]["--abortx"]
-                ( "abort after x failures" )
-            | Opt( setWarning, "warning name" )
-                ["-w"]["--warn"]
-                ( "enable warnings" )
-            | Opt( [&]( bool flag ) { config.showDurations = flag ? ShowDurations::Always : ShowDurations::Never; }, "yes|no" )
-                ["-d"]["--durations"]
-                ( "show test durations" )
-            | Opt( loadTestNamesFromFile, "filename" )
-                ["-f"]["--input-file"]
-                ( "load test names to run from a file" )
-            | Opt( config.filenamesAsTags )
-                ["-#"]["--filenames-as-tags"]
-                ( "adds a tag for the filename" )
-            | Opt( config.sectionsToRun, "section name" )
-                ["-c"]["--section"]
-                ( "specify section to run" )
-            | Opt( setVerbosity, "quiet|normal|high" )
-                ["-v"]["--verbosity"]
-                ( "set output verbosity" )
-            | Opt( config.listTestNamesOnly )
-                ["--list-test-names-only"]
-                ( "list all/matching test cases names only" )
-            | Opt( config.listReporters )
-                ["--list-reporters"]
-                ( "list all reporters" )
-            | Opt( setTestOrder, "decl|lex|rand" )
-                ["--order"]
-                ( "test case order (defaults to decl)" )
-            | Opt( setRngSeed, "'time'|number" )
-                ["--rng-seed"]
-                ( "set a specific seed for random numbers" )
-            | Opt( setColourUsage, "yes|no" )
-                ["--use-colour"]
-                ( "should output be colourised" )
-            | Opt( config.libIdentify )
-                ["--libidentify"]
-                ( "report name and version according to libidentify standard" )
-            | Opt( setWaitForKeypress, "start|exit|both" )
-                ["--wait-for-keypress"]
-                ( "waits for a keypress before exiting" )
-            | Opt( config.benchmarkResolutionMultiple, "multiplier" )
-                ["--benchmark-resolution-multiple"]
-                ( "multiple of clock resolution to run benchmarks" )
-
-            | Arg( config.testsOrTags, "test name|pattern|tags" )
-                ( "which test or tests to use" );
-
-        return cli;
-    }
-
-} // end namespace Catch
-// end catch_commandline.cpp
-// start catch_common.cpp
-
-#include <cstring>
-#include <ostream>
-
-namespace Catch {
-
-    bool SourceLineInfo::empty() const noexcept {
-        return file[0] == '\0';
-    }
-    bool SourceLineInfo::operator == ( SourceLineInfo const& other ) const noexcept {
-        return line == other.line && (file == other.file || std::strcmp(file, other.file) == 0);
-    }
-    bool SourceLineInfo::operator < ( SourceLineInfo const& other ) const noexcept {
-        // We can assume that the same file will usually have the same pointer.
-        // Thus, if the pointers are the same, there is no point in calling the strcmp
-        return line < other.line || ( line == other.line && file != other.file && (std::strcmp(file, other.file) < 0));
-    }
-
-    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ) {
-#ifndef __GNUG__
-        os << info.file << '(' << info.line << ')';
-#else
-        os << info.file << ':' << info.line;
-#endif
-        return os;
-    }
-
-    std::string StreamEndStop::operator+() const {
-        return std::string();
-    }
-
-    NonCopyable::NonCopyable() = default;
-    NonCopyable::~NonCopyable() = default;
-
-}
-// end catch_common.cpp
-// start catch_config.cpp
-
-namespace Catch {
-
-    Config::Config( ConfigData const& data )
-    :   m_data( data ),
-        m_stream( openStream() )
-    {
-        TestSpecParser parser(ITagAliasRegistry::get());
-        if (data.testsOrTags.empty()) {
-            parser.parse("~[.]"); // All not hidden tests
-        }
-        else {
-            m_hasTestFilters = true;
-            for( auto const& testOrTags : data.testsOrTags )
-                parser.parse( testOrTags );
-        }
-        m_testSpec = parser.testSpec();
-    }
-
-    std::string const& Config::getFilename() const {
-        return m_data.outputFilename ;
-    }
-
-    bool Config::listTests() const          { return m_data.listTests; }
-    bool Config::listTestNamesOnly() const  { return m_data.listTestNamesOnly; }
-    bool Config::listTags() const           { return m_data.listTags; }
-    bool Config::listReporters() const      { return m_data.listReporters; }
-
-    std::string Config::getProcessName() const { return m_data.processName; }
-    std::string const& Config::getReporterName() const { return m_data.reporterName; }
-
-    std::vector<std::string> const& Config::getTestsOrTags() const { return m_data.testsOrTags; }
-    std::vector<std::string> const& Config::getSectionsToRun() const { return m_data.sectionsToRun; }
-
-    TestSpec const& Config::testSpec() const { return m_testSpec; }
-    bool Config::hasTestFilters() const { return m_hasTestFilters; }
-
-    bool Config::showHelp() const { return m_data.showHelp; }
-
-    // IConfig interface
-    bool Config::allowThrows() const                   { return !m_data.noThrow; }
-    std::ostream& Config::stream() const               { return m_stream->stream(); }
-    std::string Config::name() const                   { return m_data.name.empty() ? m_data.processName : m_data.name; }
-    bool Config::includeSuccessfulResults() const      { return m_data.showSuccessfulTests; }
-    bool Config::warnAboutMissingAssertions() const    { return !!(m_data.warnings & WarnAbout::NoAssertions); }
-    bool Config::warnAboutNoTests() const              { return !!(m_data.warnings & WarnAbout::NoTests); }
-    ShowDurations::OrNot Config::showDurations() const { return m_data.showDurations; }
-    RunTests::InWhatOrder Config::runOrder() const     { return m_data.runOrder; }
-    unsigned int Config::rngSeed() const               { return m_data.rngSeed; }
-    int Config::benchmarkResolutionMultiple() const    { return m_data.benchmarkResolutionMultiple; }
-    UseColour::YesOrNo Config::useColour() const       { return m_data.useColour; }
-    bool Config::shouldDebugBreak() const              { return m_data.shouldDebugBreak; }
-    int Config::abortAfter() const                     { return m_data.abortAfter; }
-    bool Config::showInvisibles() const                { return m_data.showInvisibles; }
-    Verbosity Config::verbosity() const                { return m_data.verbosity; }
-
-    IStream const* Config::openStream() {
-        return Catch::makeStream(m_data.outputFilename);
-    }
-
-} // end namespace Catch
-// end catch_config.cpp
-// start catch_console_colour.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-// start catch_errno_guard.h
-
-namespace Catch {
-
-    class ErrnoGuard {
-    public:
-        ErrnoGuard();
-        ~ErrnoGuard();
-    private:
-        int m_oldErrno;
-    };
-
-}
-
-// end catch_errno_guard.h
-#include <sstream>
-
-namespace Catch {
-    namespace {
-
-        struct IColourImpl {
-            virtual ~IColourImpl() = default;
-            virtual void use( Colour::Code _colourCode ) = 0;
-        };
-
-        struct NoColourImpl : IColourImpl {
-            void use( Colour::Code ) {}
-
-            static IColourImpl* instance() {
-                static NoColourImpl s_instance;
-                return &s_instance;
-            }
-        };
-
-    } // anon namespace
-} // namespace Catch
-
-#if !defined( CATCH_CONFIG_COLOUR_NONE ) && !defined( CATCH_CONFIG_COLOUR_WINDOWS ) && !defined( CATCH_CONFIG_COLOUR_ANSI )
-#   ifdef CATCH_PLATFORM_WINDOWS
-#       define CATCH_CONFIG_COLOUR_WINDOWS
-#   else
-#       define CATCH_CONFIG_COLOUR_ANSI
-#   endif
-#endif
-
-#if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) /////////////////////////////////////////
-
-namespace Catch {
-namespace {
-
-    class Win32ColourImpl : public IColourImpl {
-    public:
-        Win32ColourImpl() : stdoutHandle( GetStdHandle(STD_OUTPUT_HANDLE) )
-        {
-            CONSOLE_SCREEN_BUFFER_INFO csbiInfo;
-            GetConsoleScreenBufferInfo( stdoutHandle, &csbiInfo );
-            originalForegroundAttributes = csbiInfo.wAttributes & ~( BACKGROUND_GREEN | BACKGROUND_RED | BACKGROUND_BLUE | BACKGROUND_INTENSITY );
-            originalBackgroundAttributes = csbiInfo.wAttributes & ~( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE | FOREGROUND_INTENSITY );
-        }
-
-        virtual void use( Colour::Code _colourCode ) override {
-            switch( _colourCode ) {
-                case Colour::None:      return setTextAttribute( originalForegroundAttributes );
-                case Colour::White:     return setTextAttribute( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
-                case Colour::Red:       return setTextAttribute( FOREGROUND_RED );
-                case Colour::Green:     return setTextAttribute( FOREGROUND_GREEN );
-                case Colour::Blue:      return setTextAttribute( FOREGROUND_BLUE );
-                case Colour::Cyan:      return setTextAttribute( FOREGROUND_BLUE | FOREGROUND_GREEN );
-                case Colour::Yellow:    return setTextAttribute( FOREGROUND_RED | FOREGROUND_GREEN );
-                case Colour::Grey:      return setTextAttribute( 0 );
-
-                case Colour::LightGrey:     return setTextAttribute( FOREGROUND_INTENSITY );
-                case Colour::BrightRed:     return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED );
-                case Colour::BrightGreen:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN );
-                case Colour::BrightWhite:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
-                case Colour::BrightYellow:  return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED | FOREGROUND_GREEN );
-
-                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
-
-                default:
-                    CATCH_ERROR( "Unknown colour requested" );
-            }
-        }
-
-    private:
-        void setTextAttribute( WORD _textAttribute ) {
-            SetConsoleTextAttribute( stdoutHandle, _textAttribute | originalBackgroundAttributes );
-        }
-        HANDLE stdoutHandle;
-        WORD originalForegroundAttributes;
-        WORD originalBackgroundAttributes;
-    };
-
-    IColourImpl* platformColourInstance() {
-        static Win32ColourImpl s_instance;
-
-        IConfigPtr config = getCurrentContext().getConfig();
-        UseColour::YesOrNo colourMode = config
-            ? config->useColour()
-            : UseColour::Auto;
-        if( colourMode == UseColour::Auto )
-            colourMode = UseColour::Yes;
-        return colourMode == UseColour::Yes
-            ? &s_instance
-            : NoColourImpl::instance();
-    }
-
-} // end anon namespace
-} // end namespace Catch
-
-#elif defined( CATCH_CONFIG_COLOUR_ANSI ) //////////////////////////////////////
-
-#include <unistd.h>
-
-namespace Catch {
-namespace {
-
-    // use POSIX/ ANSI console terminal codes
-    // Thanks to Adam Strzelecki for original contribution
-    // (http://github.com/nanoant)
-    // https://github.com/philsquared/Catch/pull/131
-    class PosixColourImpl : public IColourImpl {
-    public:
-        virtual void use( Colour::Code _colourCode ) override {
-            switch( _colourCode ) {
-                case Colour::None:
-                case Colour::White:     return setColour( "[0m" );
-                case Colour::Red:       return setColour( "[0;31m" );
-                case Colour::Green:     return setColour( "[0;32m" );
-                case Colour::Blue:      return setColour( "[0;34m" );
-                case Colour::Cyan:      return setColour( "[0;36m" );
-                case Colour::Yellow:    return setColour( "[0;33m" );
-                case Colour::Grey:      return setColour( "[1;30m" );
-
-                case Colour::LightGrey:     return setColour( "[0;37m" );
-                case Colour::BrightRed:     return setColour( "[1;31m" );
-                case Colour::BrightGreen:   return setColour( "[1;32m" );
-                case Colour::BrightWhite:   return setColour( "[1;37m" );
-                case Colour::BrightYellow:  return setColour( "[1;33m" );
-
-                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
-                default: CATCH_INTERNAL_ERROR( "Unknown colour requested" );
-            }
-        }
-        static IColourImpl* instance() {
-            static PosixColourImpl s_instance;
-            return &s_instance;
-        }
-
-    private:
-        void setColour( const char* _escapeCode ) {
-            Catch::cout() << '\033' << _escapeCode;
-        }
-    };
-
-    bool useColourOnPlatform() {
-        return
-#ifdef CATCH_PLATFORM_MAC
-            !isDebuggerActive() &&
-#endif
-#if !(defined(__DJGPP__) && defined(__STRICT_ANSI__))
-            isatty(STDOUT_FILENO)
-#else
-            false
-#endif
-            ;
-    }
-    IColourImpl* platformColourInstance() {
-        ErrnoGuard guard;
-        IConfigPtr config = getCurrentContext().getConfig();
-        UseColour::YesOrNo colourMode = config
-            ? config->useColour()
-            : UseColour::Auto;
-        if( colourMode == UseColour::Auto )
-            colourMode = useColourOnPlatform()
-                ? UseColour::Yes
-                : UseColour::No;
-        return colourMode == UseColour::Yes
-            ? PosixColourImpl::instance()
-            : NoColourImpl::instance();
-    }
-
-} // end anon namespace
-} // end namespace Catch
-
-#else  // not Windows or ANSI ///////////////////////////////////////////////
-
-namespace Catch {
-
-    static IColourImpl* platformColourInstance() { return NoColourImpl::instance(); }
-
-} // end namespace Catch
-
-#endif // Windows/ ANSI/ None
-
-namespace Catch {
-
-    Colour::Colour( Code _colourCode ) { use( _colourCode ); }
-    Colour::Colour( Colour&& rhs ) noexcept {
-        m_moved = rhs.m_moved;
-        rhs.m_moved = true;
-    }
-    Colour& Colour::operator=( Colour&& rhs ) noexcept {
-        m_moved = rhs.m_moved;
-        rhs.m_moved  = true;
-        return *this;
-    }
-
-    Colour::~Colour(){ if( !m_moved ) use( None ); }
-
-    void Colour::use( Code _colourCode ) {
-        static IColourImpl* impl = platformColourInstance();
-        impl->use( _colourCode );
-    }
-
-    std::ostream& operator << ( std::ostream& os, Colour const& ) {
-        return os;
-    }
-
-} // end namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-
-// end catch_console_colour.cpp
-// start catch_context.cpp
-
-namespace Catch {
-
-    class Context : public IMutableContext, NonCopyable {
-
-    public: // IContext
-        virtual IResultCapture* getResultCapture() override {
-            return m_resultCapture;
-        }
-        virtual IRunner* getRunner() override {
-            return m_runner;
-        }
-
-        virtual IConfigPtr const& getConfig() const override {
-            return m_config;
-        }
-
-        virtual ~Context() override;
-
-    public: // IMutableContext
-        virtual void setResultCapture( IResultCapture* resultCapture ) override {
-            m_resultCapture = resultCapture;
-        }
-        virtual void setRunner( IRunner* runner ) override {
-            m_runner = runner;
-        }
-        virtual void setConfig( IConfigPtr const& config ) override {
-            m_config = config;
-        }
-
-        friend IMutableContext& getCurrentMutableContext();
-
-    private:
-        IConfigPtr m_config;
-        IRunner* m_runner = nullptr;
-        IResultCapture* m_resultCapture = nullptr;
-    };
-
-    IMutableContext *IMutableContext::currentContext = nullptr;
-
-    void IMutableContext::createContext()
-    {
-        currentContext = new Context();
-    }
-
-    void cleanUpContext() {
-        delete IMutableContext::currentContext;
-        IMutableContext::currentContext = nullptr;
-    }
-    IContext::~IContext() = default;
-    IMutableContext::~IMutableContext() = default;
-    Context::~Context() = default;
-}
-// end catch_context.cpp
-// start catch_debug_console.cpp
-
-// start catch_debug_console.h
-
-#include <string>
-
-namespace Catch {
-    void writeToDebugConsole( std::string const& text );
-}
-
-// end catch_debug_console.h
-#ifdef CATCH_PLATFORM_WINDOWS
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            ::OutputDebugStringA( text.c_str() );
-        }
-    }
-
-#else
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            // !TBD: Need a version for Mac/ XCode and other IDEs
-            Catch::cout() << text;
-        }
-    }
-
-#endif // Platform
-// end catch_debug_console.cpp
-// start catch_debugger.cpp
-
-#ifdef CATCH_PLATFORM_MAC
-
-#  include <assert.h>
-#  include <stdbool.h>
-#  include <sys/types.h>
-#  include <unistd.h>
-#  include <sys/sysctl.h>
-#  include <cstddef>
-#  include <ostream>
-
-namespace Catch {
-
-        // The following function is taken directly from the following technical note:
-        // http://developer.apple.com/library/mac/#qa/qa2004/qa1361.html
-
-        // Returns true if the current process is being debugged (either
-        // running under the debugger or has a debugger attached post facto).
-        bool isDebuggerActive(){
-
-            int                 mib[4];
-            struct kinfo_proc   info;
-            std::size_t         size;
-
-            // Initialize the flags so that, if sysctl fails for some bizarre
-            // reason, we get a predictable result.
-
-            info.kp_proc.p_flag = 0;
-
-            // Initialize mib, which tells sysctl the info we want, in this case
-            // we're looking for information about a specific process ID.
-
-            mib[0] = CTL_KERN;
-            mib[1] = KERN_PROC;
-            mib[2] = KERN_PROC_PID;
-            mib[3] = getpid();
-
-            // Call sysctl.
-
-            size = sizeof(info);
-            if( sysctl(mib, sizeof(mib) / sizeof(*mib), &info, &size, nullptr, 0) != 0 ) {
-                Catch::cerr() << "\n** Call to sysctl failed - unable to determine if debugger is active **\n" << std::endl;
-                return false;
-            }
-
-            // We're being debugged if the P_TRACED flag is set.
-
-            return ( (info.kp_proc.p_flag & P_TRACED) != 0 );
-        }
-    } // namespace Catch
-
-#elif defined(CATCH_PLATFORM_LINUX)
-    #include <fstream>
-    #include <string>
-
-    namespace Catch{
-        // The standard POSIX way of detecting a debugger is to attempt to
-        // ptrace() the process, but this needs to be done from a child and not
-        // this process itself to still allow attaching to this process later
-        // if wanted, so is rather heavy. Under Linux we have the PID of the
-        // "debugger" (which doesn't need to be gdb, of course, it could also
-        // be strace, for example) in /proc/$PID/status, so just get it from
-        // there instead.
-        bool isDebuggerActive(){
-            // Libstdc++ has a bug, where std::ifstream sets errno to 0
-            // This way our users can properly assert over errno values
-            ErrnoGuard guard;
-            std::ifstream in("/proc/self/status");
-            for( std::string line; std::getline(in, line); ) {
-                static const int PREFIX_LEN = 11;
-                if( line.compare(0, PREFIX_LEN, "TracerPid:\t") == 0 ) {
-                    // We're traced if the PID is not 0 and no other PID starts
-                    // with 0 digit, so it's enough to check for just a single
-                    // character.
-                    return line.length() > PREFIX_LEN && line[PREFIX_LEN] != '0';
-                }
-            }
-
-            return false;
-        }
-    } // namespace Catch
-#elif defined(_MSC_VER)
-    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
-    namespace Catch {
-        bool isDebuggerActive() {
-            return IsDebuggerPresent() != 0;
-        }
-    }
-#elif defined(__MINGW32__)
-    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
-    namespace Catch {
-        bool isDebuggerActive() {
-            return IsDebuggerPresent() != 0;
-        }
-    }
-#else
-    namespace Catch {
-       bool isDebuggerActive() { return false; }
-    }
-#endif // Platform
-// end catch_debugger.cpp
-// start catch_decomposer.cpp
-
-namespace Catch {
-
-    ITransientExpression::~ITransientExpression() = default;
-
-    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs ) {
-        if( lhs.size() + rhs.size() < 40 &&
-                lhs.find('\n') == std::string::npos &&
-                rhs.find('\n') == std::string::npos )
-            os << lhs << " " << op << " " << rhs;
-        else
-            os << lhs << "\n" << op << "\n" << rhs;
-    }
-}
-// end catch_decomposer.cpp
-// start catch_enforce.cpp
-
-namespace Catch {
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS_CUSTOM_HANDLER)
-    [[noreturn]]
-    void throw_exception(std::exception const& e) {
-        Catch::cerr() << "Catch will terminate because it needed to throw an exception.\n"
-                      << "The message was: " << e.what() << '\n';
-        std::terminate();
-    }
-#endif
-} // namespace Catch;
-// end catch_enforce.cpp
-// start catch_errno_guard.cpp
-
-#include <cerrno>
-
-namespace Catch {
-        ErrnoGuard::ErrnoGuard():m_oldErrno(errno){}
-        ErrnoGuard::~ErrnoGuard() { errno = m_oldErrno; }
-}
-// end catch_errno_guard.cpp
-// start catch_exception_translator_registry.cpp
-
-// start catch_exception_translator_registry.h
-
-#include <vector>
-#include <string>
-#include <memory>
-
-namespace Catch {
-
-    class ExceptionTranslatorRegistry : public IExceptionTranslatorRegistry {
-    public:
-        ~ExceptionTranslatorRegistry();
-        virtual void registerTranslator( const IExceptionTranslator* translator );
-        virtual std::string translateActiveException() const override;
-        std::string tryTranslators() const;
-
-    private:
-        std::vector<std::unique_ptr<IExceptionTranslator const>> m_translators;
-    };
-}
-
-// end catch_exception_translator_registry.h
-#ifdef __OBJC__
-#import "Foundation/Foundation.h"
-#endif
-
-namespace Catch {
-
-    ExceptionTranslatorRegistry::~ExceptionTranslatorRegistry() {
-    }
-
-    void ExceptionTranslatorRegistry::registerTranslator( const IExceptionTranslator* translator ) {
-        m_translators.push_back( std::unique_ptr<const IExceptionTranslator>( translator ) );
-    }
-
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    std::string ExceptionTranslatorRegistry::translateActiveException() const {
-        try {
-#ifdef __OBJC__
-            // In Objective-C try objective-c exceptions first
-            @try {
-                return tryTranslators();
-            }
-            @catch (NSException *exception) {
-                return Catch::Detail::stringify( [exception description] );
-            }
-#else
-            // Compiling a mixed mode project with MSVC means that CLR
-            // exceptions will be caught in (...) as well. However, these
-            // do not fill-in std::current_exception and thus lead to crash
-            // when attempting rethrow.
-            // /EHa switch also causes structured exceptions to be caught
-            // here, but they fill-in current_exception properly, so
-            // at worst the output should be a little weird, instead of
-            // causing a crash.
-            if (std::current_exception() == nullptr) {
-                return "Non C++ exception. Possibly a CLR exception.";
-            }
-            return tryTranslators();
-#endif
-        }
-        catch( TestFailureException& ) {
-            std::rethrow_exception(std::current_exception());
-        }
-        catch( std::exception& ex ) {
-            return ex.what();
-        }
-        catch( std::string& msg ) {
-            return msg;
-        }
-        catch( const char* msg ) {
-            return msg;
-        }
-        catch(...) {
-            return "Unknown exception";
-        }
-    }
-
-#else // ^^ Exceptions are enabled // Exceptions are disabled vv
-    std::string ExceptionTranslatorRegistry::translateActiveException() const {
-        CATCH_INTERNAL_ERROR("Attempted to translate active exception under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
-    }
-#endif
-
-    std::string ExceptionTranslatorRegistry::tryTranslators() const {
-        if( m_translators.empty() )
-            std::rethrow_exception(std::current_exception());
-        else
-            return m_translators[0]->translate( m_translators.begin()+1, m_translators.end() );
-    }
-}
-// end catch_exception_translator_registry.cpp
-// start catch_fatal_condition.cpp
-
-#if defined(__GNUC__)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wmissing-field-initializers"
-#endif
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH ) || defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-namespace {
-    // Report the error condition
-    void reportFatal( char const * const message ) {
-        Catch::getCurrentContext().getResultCapture()->handleFatalErrorCondition( message );
-    }
-}
-
-#endif // signals/SEH handling
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH )
-
-namespace Catch {
-    struct SignalDefs { DWORD id; const char* name; };
-
-    // There is no 1-1 mapping between signals and windows exceptions.
-    // Windows can easily distinguish between SO and SigSegV,
-    // but SigInt, SigTerm, etc are handled differently.
-    static SignalDefs signalDefs[] = {
-        { EXCEPTION_ILLEGAL_INSTRUCTION,  "SIGILL - Illegal instruction signal" },
-        { EXCEPTION_STACK_OVERFLOW, "SIGSEGV - Stack overflow" },
-        { EXCEPTION_ACCESS_VIOLATION, "SIGSEGV - Segmentation violation signal" },
-        { EXCEPTION_INT_DIVIDE_BY_ZERO, "Divide by zero error" },
-    };
-
-    LONG CALLBACK FatalConditionHandler::handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) {
-        for (auto const& def : signalDefs) {
-            if (ExceptionInfo->ExceptionRecord->ExceptionCode == def.id) {
-                reportFatal(def.name);
-            }
-        }
-        // If its not an exception we care about, pass it along.
-        // This stops us from eating debugger breaks etc.
-        return EXCEPTION_CONTINUE_SEARCH;
-    }
-
-    FatalConditionHandler::FatalConditionHandler() {
-        isSet = true;
-        // 32k seems enough for Catch to handle stack overflow,
-        // but the value was found experimentally, so there is no strong guarantee
-        guaranteeSize = 32 * 1024;
-        exceptionHandlerHandle = nullptr;
-        // Register as first handler in current chain
-        exceptionHandlerHandle = AddVectoredExceptionHandler(1, handleVectoredException);
-        // Pass in guarantee size to be filled
-        SetThreadStackGuarantee(&guaranteeSize);
-    }
-
-    void FatalConditionHandler::reset() {
-        if (isSet) {
-            RemoveVectoredExceptionHandler(exceptionHandlerHandle);
-            SetThreadStackGuarantee(&guaranteeSize);
-            exceptionHandlerHandle = nullptr;
-            isSet = false;
-        }
-    }
-
-    FatalConditionHandler::~FatalConditionHandler() {
-        reset();
-    }
-
-bool FatalConditionHandler::isSet = false;
-ULONG FatalConditionHandler::guaranteeSize = 0;
-PVOID FatalConditionHandler::exceptionHandlerHandle = nullptr;
-
-} // namespace Catch
-
-#elif defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-namespace Catch {
-
-    struct SignalDefs {
-        int id;
-        const char* name;
-    };
-
-    // 32kb for the alternate stack seems to be sufficient. However, this value
-    // is experimentally determined, so that's not guaranteed.
-    constexpr static std::size_t sigStackSize = 32768 >= MINSIGSTKSZ ? 32768 : MINSIGSTKSZ;
-
-    static SignalDefs signalDefs[] = {
-        { SIGINT,  "SIGINT - Terminal interrupt signal" },
-        { SIGILL,  "SIGILL - Illegal instruction signal" },
-        { SIGFPE,  "SIGFPE - Floating point error signal" },
-        { SIGSEGV, "SIGSEGV - Segmentation violation signal" },
-        { SIGTERM, "SIGTERM - Termination request signal" },
-        { SIGABRT, "SIGABRT - Abort (abnormal termination) signal" }
-    };
-
-    void FatalConditionHandler::handleSignal( int sig ) {
-        char const * name = "<unknown signal>";
-        for (auto const& def : signalDefs) {
-            if (sig == def.id) {
-                name = def.name;
-                break;
-            }
-        }
-        reset();
-        reportFatal(name);
-        raise( sig );
-    }
-
-    FatalConditionHandler::FatalConditionHandler() {
-        isSet = true;
-        stack_t sigStack;
-        sigStack.ss_sp = altStackMem;
-        sigStack.ss_size = sigStackSize;
-        sigStack.ss_flags = 0;
-        sigaltstack(&sigStack, &oldSigStack);
-        struct sigaction sa = { };
-
-        sa.sa_handler = handleSignal;
-        sa.sa_flags = SA_ONSTACK;
-        for (std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i) {
-            sigaction(signalDefs[i].id, &sa, &oldSigActions[i]);
-        }
-    }
-
-    FatalConditionHandler::~FatalConditionHandler() {
-        reset();
-    }
-
-    void FatalConditionHandler::reset() {
-        if( isSet ) {
-            // Set signals back to previous values -- hopefully nobody overwrote them in the meantime
-            for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) {
-                sigaction(signalDefs[i].id, &oldSigActions[i], nullptr);
-            }
-            // Return the old stack
-            sigaltstack(&oldSigStack, nullptr);
-            isSet = false;
-        }
-    }
-
-    bool FatalConditionHandler::isSet = false;
-    struct sigaction FatalConditionHandler::oldSigActions[sizeof(signalDefs)/sizeof(SignalDefs)] = {};
-    stack_t FatalConditionHandler::oldSigStack = {};
-    char FatalConditionHandler::altStackMem[sigStackSize] = {};
-
-} // namespace Catch
-
-#else
-
-namespace Catch {
-    void FatalConditionHandler::reset() {}
-}
-
-#endif // signals/SEH handling
-
-#if defined(__GNUC__)
-#    pragma GCC diagnostic pop
-#endif
-// end catch_fatal_condition.cpp
-// start catch_generators.cpp
-
-// start catch_random_number_generator.h
-
-#include <algorithm>
-#include <random>
-
-namespace Catch {
-
-    struct IConfig;
-
-    std::mt19937& rng();
-    void seedRng( IConfig const& config );
-    unsigned int rngSeed();
-
-}
-
-// end catch_random_number_generator.h
-#include <limits>
-#include <set>
-
-namespace Catch {
-
-IGeneratorTracker::~IGeneratorTracker() {}
-
-namespace Generators {
-
-    GeneratorBase::~GeneratorBase() {}
-
-    std::vector<size_t> randomiseIndices( size_t selectionSize, size_t sourceSize ) {
-
-        assert( selectionSize <= sourceSize );
-        std::vector<size_t> indices;
-        indices.reserve( selectionSize );
-        std::uniform_int_distribution<size_t> uid( 0, sourceSize-1 );
-
-        std::set<size_t> seen;
-        // !TBD: improve this algorithm
-        while( indices.size() < selectionSize ) {
-            auto index = uid( rng() );
-            if( seen.insert( index ).second )
-                indices.push_back( index );
-        }
-        return indices;
-    }
-
-    auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
-        return getResultCapture().acquireGeneratorTracker( lineInfo );
-    }
-
-    template<>
-    auto all<int>() -> Generator<int> {
-        return range( std::numeric_limits<int>::min(), std::numeric_limits<int>::max() );
-    }
-
-} // namespace Generators
-} // namespace Catch
-// end catch_generators.cpp
-// start catch_interfaces_capture.cpp
-
-namespace Catch {
-    IResultCapture::~IResultCapture() = default;
-}
-// end catch_interfaces_capture.cpp
-// start catch_interfaces_config.cpp
-
-namespace Catch {
-    IConfig::~IConfig() = default;
-}
-// end catch_interfaces_config.cpp
-// start catch_interfaces_exception.cpp
-
-namespace Catch {
-    IExceptionTranslator::~IExceptionTranslator() = default;
-    IExceptionTranslatorRegistry::~IExceptionTranslatorRegistry() = default;
-}
-// end catch_interfaces_exception.cpp
-// start catch_interfaces_registry_hub.cpp
-
-namespace Catch {
-    IRegistryHub::~IRegistryHub() = default;
-    IMutableRegistryHub::~IMutableRegistryHub() = default;
-}
-// end catch_interfaces_registry_hub.cpp
-// start catch_interfaces_reporter.cpp
-
-// start catch_reporter_listening.h
-
-namespace Catch {
-
-    class ListeningReporter : public IStreamingReporter {
-        using Reporters = std::vector<IStreamingReporterPtr>;
-        Reporters m_listeners;
-        IStreamingReporterPtr m_reporter = nullptr;
-        ReporterPreferences m_preferences;
-
-    public:
-        ListeningReporter();
-
-        void addListener( IStreamingReporterPtr&& listener );
-        void addReporter( IStreamingReporterPtr&& reporter );
-
-    public: // IStreamingReporter
-
-        ReporterPreferences getPreferences() const override;
-
-        void noMatchingTestCases( std::string const& spec ) override;
-
-        static std::set<Verbosity> getSupportedVerbosities();
-
-        void benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) override;
-        void benchmarkEnded( BenchmarkStats const& benchmarkStats ) override;
-
-        void testRunStarting( TestRunInfo const& testRunInfo ) override;
-        void testGroupStarting( GroupInfo const& groupInfo ) override;
-        void testCaseStarting( TestCaseInfo const& testInfo ) override;
-        void sectionStarting( SectionInfo const& sectionInfo ) override;
-        void assertionStarting( AssertionInfo const& assertionInfo ) override;
-
-        // The return value indicates if the messages buffer should be cleared:
-        bool assertionEnded( AssertionStats const& assertionStats ) override;
-        void sectionEnded( SectionStats const& sectionStats ) override;
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override;
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override;
-        void testRunEnded( TestRunStats const& testRunStats ) override;
-
-        void skipTest( TestCaseInfo const& testInfo ) override;
-        bool isMulti() const override;
-
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_listening.h
-namespace Catch {
-
-    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig )
-    :   m_stream( &_fullConfig->stream() ), m_fullConfig( _fullConfig ) {}
-
-    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream )
-    :   m_stream( &_stream ), m_fullConfig( _fullConfig ) {}
-
-    std::ostream& ReporterConfig::stream() const { return *m_stream; }
-    IConfigPtr ReporterConfig::fullConfig() const { return m_fullConfig; }
-
-    TestRunInfo::TestRunInfo( std::string const& _name ) : name( _name ) {}
-
-    GroupInfo::GroupInfo(  std::string const& _name,
-                           std::size_t _groupIndex,
-                           std::size_t _groupsCount )
-    :   name( _name ),
-        groupIndex( _groupIndex ),
-        groupsCounts( _groupsCount )
-    {}
-
-     AssertionStats::AssertionStats( AssertionResult const& _assertionResult,
-                                     std::vector<MessageInfo> const& _infoMessages,
-                                     Totals const& _totals )
-    :   assertionResult( _assertionResult ),
-        infoMessages( _infoMessages ),
-        totals( _totals )
-    {
-        assertionResult.m_resultData.lazyExpression.m_transientExpression = _assertionResult.m_resultData.lazyExpression.m_transientExpression;
-
-        if( assertionResult.hasMessage() ) {
-            // Copy message into messages list.
-            // !TBD This should have been done earlier, somewhere
-            MessageBuilder builder( assertionResult.getTestMacroName(), assertionResult.getSourceInfo(), assertionResult.getResultType() );
-            builder << assertionResult.getMessage();
-            builder.m_info.message = builder.m_stream.str();
-
-            infoMessages.push_back( builder.m_info );
-        }
-    }
-
-     AssertionStats::~AssertionStats() = default;
-
-    SectionStats::SectionStats(  SectionInfo const& _sectionInfo,
-                                 Counts const& _assertions,
-                                 double _durationInSeconds,
-                                 bool _missingAssertions )
-    :   sectionInfo( _sectionInfo ),
-        assertions( _assertions ),
-        durationInSeconds( _durationInSeconds ),
-        missingAssertions( _missingAssertions )
-    {}
-
-    SectionStats::~SectionStats() = default;
-
-    TestCaseStats::TestCaseStats(  TestCaseInfo const& _testInfo,
-                                   Totals const& _totals,
-                                   std::string const& _stdOut,
-                                   std::string const& _stdErr,
-                                   bool _aborting )
-    : testInfo( _testInfo ),
-        totals( _totals ),
-        stdOut( _stdOut ),
-        stdErr( _stdErr ),
-        aborting( _aborting )
-    {}
-
-    TestCaseStats::~TestCaseStats() = default;
-
-    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo,
-                                    Totals const& _totals,
-                                    bool _aborting )
-    :   groupInfo( _groupInfo ),
-        totals( _totals ),
-        aborting( _aborting )
-    {}
-
-    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo )
-    :   groupInfo( _groupInfo ),
-        aborting( false )
-    {}
-
-    TestGroupStats::~TestGroupStats() = default;
-
-    TestRunStats::TestRunStats(   TestRunInfo const& _runInfo,
-                    Totals const& _totals,
-                    bool _aborting )
-    :   runInfo( _runInfo ),
-        totals( _totals ),
-        aborting( _aborting )
-    {}
-
-    TestRunStats::~TestRunStats() = default;
-
-    void IStreamingReporter::fatalErrorEncountered( StringRef ) {}
-    bool IStreamingReporter::isMulti() const { return false; }
-
-    IReporterFactory::~IReporterFactory() = default;
-    IReporterRegistry::~IReporterRegistry() = default;
-
-} // end namespace Catch
-// end catch_interfaces_reporter.cpp
-// start catch_interfaces_runner.cpp
-
-namespace Catch {
-    IRunner::~IRunner() = default;
-}
-// end catch_interfaces_runner.cpp
-// start catch_interfaces_testcase.cpp
-
-namespace Catch {
-    ITestInvoker::~ITestInvoker() = default;
-    ITestCaseRegistry::~ITestCaseRegistry() = default;
-}
-// end catch_interfaces_testcase.cpp
-// start catch_leak_detector.cpp
-
-#ifdef CATCH_CONFIG_WINDOWS_CRTDBG
-#include <crtdbg.h>
-
-namespace Catch {
-
-    LeakDetector::LeakDetector() {
-        int flag = _CrtSetDbgFlag(_CRTDBG_REPORT_FLAG);
-        flag |= _CRTDBG_LEAK_CHECK_DF;
-        flag |= _CRTDBG_ALLOC_MEM_DF;
-        _CrtSetDbgFlag(flag);
-        _CrtSetReportMode(_CRT_WARN, _CRTDBG_MODE_FILE | _CRTDBG_MODE_DEBUG);
-        _CrtSetReportFile(_CRT_WARN, _CRTDBG_FILE_STDERR);
-        // Change this to leaking allocation's number to break there
-        _CrtSetBreakAlloc(-1);
-    }
-}
-
-#else
-
-    Catch::LeakDetector::LeakDetector() {}
-
-#endif
-
-Catch::LeakDetector::~LeakDetector() {
-    Catch::cleanUp();
-}
-// end catch_leak_detector.cpp
-// start catch_list.cpp
-
-// start catch_list.h
-
-#include <set>
-
-namespace Catch {
-
-    std::size_t listTests( Config const& config );
-
-    std::size_t listTestsNamesOnly( Config const& config );
-
-    struct TagInfo {
-        void add( std::string const& spelling );
-        std::string all() const;
-
-        std::set<std::string> spellings;
-        std::size_t count = 0;
-    };
-
-    std::size_t listTags( Config const& config );
-
-    std::size_t listReporters();
-
-    Option<std::size_t> list( Config const& config );
-
-} // end namespace Catch
-
-// end catch_list.h
-// start catch_text.h
-
-namespace Catch {
-    using namespace clara::TextFlow;
-}
-
-// end catch_text.h
-#include <limits>
-#include <algorithm>
-#include <iomanip>
-
-namespace Catch {
-
-    std::size_t listTests( Config const& config ) {
-        TestSpec testSpec = config.testSpec();
-        if( config.hasTestFilters() )
-            Catch::cout() << "Matching test cases:\n";
-        else {
-            Catch::cout() << "All available test cases:\n";
-        }
-
-        auto matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCaseInfo : matchedTestCases ) {
-            Colour::Code colour = testCaseInfo.isHidden()
-                ? Colour::SecondaryText
-                : Colour::None;
-            Colour colourGuard( colour );
-
-            Catch::cout() << Column( testCaseInfo.name ).initialIndent( 2 ).indent( 4 ) << "\n";
-            if( config.verbosity() >= Verbosity::High ) {
-                Catch::cout() << Column( Catch::Detail::stringify( testCaseInfo.lineInfo ) ).indent(4) << std::endl;
-                std::string description = testCaseInfo.description;
-                if( description.empty() )
-                    description = "(NO DESCRIPTION)";
-                Catch::cout() << Column( description ).indent(4) << std::endl;
-            }
-            if( !testCaseInfo.tags.empty() )
-                Catch::cout() << Column( testCaseInfo.tagsAsString() ).indent( 6 ) << "\n";
-        }
-
-        if( !config.hasTestFilters() )
-            Catch::cout() << pluralise( matchedTestCases.size(), "test case" ) << '\n' << std::endl;
-        else
-            Catch::cout() << pluralise( matchedTestCases.size(), "matching test case" ) << '\n' << std::endl;
-        return matchedTestCases.size();
-    }
-
-    std::size_t listTestsNamesOnly( Config const& config ) {
-        TestSpec testSpec = config.testSpec();
-        std::size_t matchedTests = 0;
-        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCaseInfo : matchedTestCases ) {
-            matchedTests++;
-            if( startsWith( testCaseInfo.name, '#' ) )
-               Catch::cout() << '"' << testCaseInfo.name << '"';
-            else
-               Catch::cout() << testCaseInfo.name;
-            if ( config.verbosity() >= Verbosity::High )
-                Catch::cout() << "\t@" << testCaseInfo.lineInfo;
-            Catch::cout() << std::endl;
-        }
-        return matchedTests;
-    }
-
-    void TagInfo::add( std::string const& spelling ) {
-        ++count;
-        spellings.insert( spelling );
-    }
-
-    std::string TagInfo::all() const {
-        std::string out;
-        for( auto const& spelling : spellings )
-            out += "[" + spelling + "]";
-        return out;
-    }
-
-    std::size_t listTags( Config const& config ) {
-        TestSpec testSpec = config.testSpec();
-        if( config.hasTestFilters() )
-            Catch::cout() << "Tags for matching test cases:\n";
-        else {
-            Catch::cout() << "All available tags:\n";
-        }
-
-        std::map<std::string, TagInfo> tagCounts;
-
-        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCase : matchedTestCases ) {
-            for( auto const& tagName : testCase.getTestCaseInfo().tags ) {
-                std::string lcaseTagName = toLower( tagName );
-                auto countIt = tagCounts.find( lcaseTagName );
-                if( countIt == tagCounts.end() )
-                    countIt = tagCounts.insert( std::make_pair( lcaseTagName, TagInfo() ) ).first;
-                countIt->second.add( tagName );
-            }
-        }
-
-        for( auto const& tagCount : tagCounts ) {
-            ReusableStringStream rss;
-            rss << "  " << std::setw(2) << tagCount.second.count << "  ";
-            auto str = rss.str();
-            auto wrapper = Column( tagCount.second.all() )
-                                                    .initialIndent( 0 )
-                                                    .indent( str.size() )
-                                                    .width( CATCH_CONFIG_CONSOLE_WIDTH-10 );
-            Catch::cout() << str << wrapper << '\n';
-        }
-        Catch::cout() << pluralise( tagCounts.size(), "tag" ) << '\n' << std::endl;
-        return tagCounts.size();
-    }
-
-    std::size_t listReporters() {
-        Catch::cout() << "Available reporters:\n";
-        IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
-        std::size_t maxNameLen = 0;
-        for( auto const& factoryKvp : factories )
-            maxNameLen = (std::max)( maxNameLen, factoryKvp.first.size() );
-
-        for( auto const& factoryKvp : factories ) {
-            Catch::cout()
-                    << Column( factoryKvp.first + ":" )
-                            .indent(2)
-                            .width( 5+maxNameLen )
-                    +  Column( factoryKvp.second->getDescription() )
-                            .initialIndent(0)
-                            .indent(2)
-                            .width( CATCH_CONFIG_CONSOLE_WIDTH - maxNameLen-8 )
-                    << "\n";
-        }
-        Catch::cout() << std::endl;
-        return factories.size();
-    }
-
-    Option<std::size_t> list( Config const& config ) {
-        Option<std::size_t> listedCount;
-        if( config.listTests() )
-            listedCount = listedCount.valueOr(0) + listTests( config );
-        if( config.listTestNamesOnly() )
-            listedCount = listedCount.valueOr(0) + listTestsNamesOnly( config );
-        if( config.listTags() )
-            listedCount = listedCount.valueOr(0) + listTags( config );
-        if( config.listReporters() )
-            listedCount = listedCount.valueOr(0) + listReporters();
-        return listedCount;
-    }
-
-} // end namespace Catch
-// end catch_list.cpp
-// start catch_matchers.cpp
-
-namespace Catch {
-namespace Matchers {
-    namespace Impl {
-
-        std::string MatcherUntypedBase::toString() const {
-            if( m_cachedToString.empty() )
-                m_cachedToString = describe();
-            return m_cachedToString;
-        }
-
-        MatcherUntypedBase::~MatcherUntypedBase() = default;
-
-    } // namespace Impl
-} // namespace Matchers
-
-using namespace Matchers;
-using Matchers::Impl::MatcherBase;
-
-} // namespace Catch
-// end catch_matchers.cpp
-// start catch_matchers_floating.cpp
-
-// start catch_polyfills.hpp
-
-namespace Catch {
-    bool isnan(float f);
-    bool isnan(double d);
-}
-
-// end catch_polyfills.hpp
-// start catch_to_string.hpp
-
-#include <string>
-
-namespace Catch {
-    template <typename T>
-    std::string to_string(T const& t) {
-#if defined(CATCH_CONFIG_CPP11_TO_STRING)
-        return std::to_string(t);
-#else
-        ReusableStringStream rss;
-        rss << t;
-        return rss.str();
-#endif
-    }
-} // end namespace Catch
-
-// end catch_to_string.hpp
-#include <cstdlib>
-#include <cstdint>
-#include <cstring>
-
-namespace Catch {
-namespace Matchers {
-namespace Floating {
-enum class FloatingPointKind : uint8_t {
-    Float,
-    Double
-};
-}
-}
-}
-
-namespace {
-
-template <typename T>
-struct Converter;
-
-template <>
-struct Converter<float> {
-    static_assert(sizeof(float) == sizeof(int32_t), "Important ULP matcher assumption violated");
-    Converter(float f) {
-        std::memcpy(&i, &f, sizeof(f));
-    }
-    int32_t i;
-};
-
-template <>
-struct Converter<double> {
-    static_assert(sizeof(double) == sizeof(int64_t), "Important ULP matcher assumption violated");
-    Converter(double d) {
-        std::memcpy(&i, &d, sizeof(d));
-    }
-    int64_t i;
-};
-
-template <typename T>
-auto convert(T t) -> Converter<T> {
-    return Converter<T>(t);
-}
-
-template <typename FP>
-bool almostEqualUlps(FP lhs, FP rhs, int maxUlpDiff) {
-    // Comparison with NaN should always be false.
-    // This way we can rule it out before getting into the ugly details
-    if (Catch::isnan(lhs) || Catch::isnan(rhs)) {
-        return false;
-    }
-
-    auto lc = convert(lhs);
-    auto rc = convert(rhs);
-
-    if ((lc.i < 0) != (rc.i < 0)) {
-        // Potentially we can have +0 and -0
-        return lhs == rhs;
-    }
-
-    auto ulpDiff = std::abs(lc.i - rc.i);
-    return ulpDiff <= maxUlpDiff;
-}
-
-}
-
-namespace Catch {
-namespace Matchers {
-namespace Floating {
-    WithinAbsMatcher::WithinAbsMatcher(double target, double margin)
-        :m_target{ target }, m_margin{ margin } {
-        CATCH_ENFORCE(margin >= 0, "Invalid margin: " << margin << '.'
-            << " Margin has to be non-negative.");
-    }
-
-    // Performs equivalent check of std::fabs(lhs - rhs) <= margin
-    // But without the subtraction to allow for INFINITY in comparison
-    bool WithinAbsMatcher::match(double const& matchee) const {
-        return (matchee + m_margin >= m_target) && (m_target + m_margin >= matchee);
-    }
-
-    std::string WithinAbsMatcher::describe() const {
-        return "is within " + ::Catch::Detail::stringify(m_margin) + " of " + ::Catch::Detail::stringify(m_target);
-    }
-
-    WithinUlpsMatcher::WithinUlpsMatcher(double target, int ulps, FloatingPointKind baseType)
-        :m_target{ target }, m_ulps{ ulps }, m_type{ baseType } {
-        CATCH_ENFORCE(ulps >= 0, "Invalid ULP setting: " << ulps << '.'
-            << " ULPs have to be non-negative.");
-    }
-
-#if defined(__clang__)
-#pragma clang diagnostic push
-// Clang <3.5 reports on the default branch in the switch below
-#pragma clang diagnostic ignored "-Wunreachable-code"
-#endif
-
-    bool WithinUlpsMatcher::match(double const& matchee) const {
-        switch (m_type) {
-        case FloatingPointKind::Float:
-            return almostEqualUlps<float>(static_cast<float>(matchee), static_cast<float>(m_target), m_ulps);
-        case FloatingPointKind::Double:
-            return almostEqualUlps<double>(matchee, m_target, m_ulps);
-        default:
-            CATCH_INTERNAL_ERROR( "Unknown FloatingPointKind value" );
-        }
-    }
-
-#if defined(__clang__)
-#pragma clang diagnostic pop
-#endif
-
-    std::string WithinUlpsMatcher::describe() const {
-        return "is within " + Catch::to_string(m_ulps) + " ULPs of " + ::Catch::Detail::stringify(m_target) + ((m_type == FloatingPointKind::Float)? "f" : "");
-    }
-
-}// namespace Floating
-
-Floating::WithinUlpsMatcher WithinULP(double target, int maxUlpDiff) {
-    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Double);
-}
-
-Floating::WithinUlpsMatcher WithinULP(float target, int maxUlpDiff) {
-    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Float);
-}
-
-Floating::WithinAbsMatcher WithinAbs(double target, double margin) {
-    return Floating::WithinAbsMatcher(target, margin);
-}
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_floating.cpp
-// start catch_matchers_generic.cpp
-
-std::string Catch::Matchers::Generic::Detail::finalizeDescription(const std::string& desc) {
-    if (desc.empty()) {
-        return "matches undescribed predicate";
-    } else {
-        return "matches predicate: \"" + desc + '"';
-    }
-}
-// end catch_matchers_generic.cpp
-// start catch_matchers_string.cpp
-
-#include <regex>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace StdString {
-
-        CasedString::CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity )
-        :   m_caseSensitivity( caseSensitivity ),
-            m_str( adjustString( str ) )
-        {}
-        std::string CasedString::adjustString( std::string const& str ) const {
-            return m_caseSensitivity == CaseSensitive::No
-                   ? toLower( str )
-                   : str;
-        }
-        std::string CasedString::caseSensitivitySuffix() const {
-            return m_caseSensitivity == CaseSensitive::No
-                   ? " (case insensitive)"
-                   : std::string();
-        }
-
-        StringMatcherBase::StringMatcherBase( std::string const& operation, CasedString const& comparator )
-        : m_comparator( comparator ),
-          m_operation( operation ) {
-        }
-
-        std::string StringMatcherBase::describe() const {
-            std::string description;
-            description.reserve(5 + m_operation.size() + m_comparator.m_str.size() +
-                                        m_comparator.caseSensitivitySuffix().size());
-            description += m_operation;
-            description += ": \"";
-            description += m_comparator.m_str;
-            description += "\"";
-            description += m_comparator.caseSensitivitySuffix();
-            return description;
-        }
-
-        EqualsMatcher::EqualsMatcher( CasedString const& comparator ) : StringMatcherBase( "equals", comparator ) {}
-
-        bool EqualsMatcher::match( std::string const& source ) const {
-            return m_comparator.adjustString( source ) == m_comparator.m_str;
-        }
-
-        ContainsMatcher::ContainsMatcher( CasedString const& comparator ) : StringMatcherBase( "contains", comparator ) {}
-
-        bool ContainsMatcher::match( std::string const& source ) const {
-            return contains( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        StartsWithMatcher::StartsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "starts with", comparator ) {}
-
-        bool StartsWithMatcher::match( std::string const& source ) const {
-            return startsWith( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        EndsWithMatcher::EndsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "ends with", comparator ) {}
-
-        bool EndsWithMatcher::match( std::string const& source ) const {
-            return endsWith( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        RegexMatcher::RegexMatcher(std::string regex, CaseSensitive::Choice caseSensitivity): m_regex(std::move(regex)), m_caseSensitivity(caseSensitivity) {}
-
-        bool RegexMatcher::match(std::string const& matchee) const {
-            auto flags = std::regex::ECMAScript; // ECMAScript is the default syntax option anyway
-            if (m_caseSensitivity == CaseSensitive::Choice::No) {
-                flags |= std::regex::icase;
-            }
-            auto reg = std::regex(m_regex, flags);
-            return std::regex_match(matchee, reg);
-        }
-
-        std::string RegexMatcher::describe() const {
-            return "matches " + ::Catch::Detail::stringify(m_regex) + ((m_caseSensitivity == CaseSensitive::Choice::Yes)? " case sensitively" : " case insensitively");
-        }
-
-    } // namespace StdString
-
-    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::EqualsMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::ContainsMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::EndsWithMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::StartsWithMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-
-    StdString::RegexMatcher Matches(std::string const& regex, CaseSensitive::Choice caseSensitivity) {
-        return StdString::RegexMatcher(regex, caseSensitivity);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-// end catch_matchers_string.cpp
-// start catch_message.cpp
-
-// start catch_uncaught_exceptions.h
-
-namespace Catch {
-    bool uncaught_exceptions();
-} // end namespace Catch
-
-// end catch_uncaught_exceptions.h
-#include <cassert>
-#include <stack>
-
-namespace Catch {
-
-    MessageInfo::MessageInfo(   StringRef const& _macroName,
-                                SourceLineInfo const& _lineInfo,
-                                ResultWas::OfType _type )
-    :   macroName( _macroName ),
-        lineInfo( _lineInfo ),
-        type( _type ),
-        sequence( ++globalCount )
-    {}
-
-    bool MessageInfo::operator==( MessageInfo const& other ) const {
-        return sequence == other.sequence;
-    }
-
-    bool MessageInfo::operator<( MessageInfo const& other ) const {
-        return sequence < other.sequence;
-    }
-
-    // This may need protecting if threading support is added
-    unsigned int MessageInfo::globalCount = 0;
-
-    ////////////////////////////////////////////////////////////////////////////
-
-    Catch::MessageBuilder::MessageBuilder( StringRef const& macroName,
-                                           SourceLineInfo const& lineInfo,
-                                           ResultWas::OfType type )
-        :m_info(macroName, lineInfo, type) {}
-
-    ////////////////////////////////////////////////////////////////////////////
-
-    ScopedMessage::ScopedMessage( MessageBuilder const& builder )
-    : m_info( builder.m_info )
-    {
-        m_info.message = builder.m_stream.str();
-        getResultCapture().pushScopedMessage( m_info );
-    }
-
-    ScopedMessage::~ScopedMessage() {
-        if ( !uncaught_exceptions() ){
-            getResultCapture().popScopedMessage(m_info);
-        }
-    }
-
-    Capturer::Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names ) {
-        auto trimmed = [&] (size_t start, size_t end) {
-            while (names[start] == ',' || isspace(names[start])) {
-                ++start;
-            }
-            while (names[end] == ',' || isspace(names[end])) {
-                --end;
-            }
-            return names.substr(start, end - start + 1);
-        };
-
-        size_t start = 0;
-        std::stack<char> openings;
-        for (size_t pos = 0; pos < names.size(); ++pos) {
-            char c = names[pos];
-            switch (c) {
-            case '[':
-            case '{':
-            case '(':
-            // It is basically impossible to disambiguate between
-            // comparison and start of template args in this context
-//            case '<':
-                openings.push(c);
-                break;
-            case ']':
-            case '}':
-            case ')':
-//           case '>':
-                openings.pop();
-                break;
-            case ',':
-                if (start != pos && openings.size() == 0) {
-                    m_messages.emplace_back(macroName, lineInfo, resultType);
-                    m_messages.back().message = trimmed(start, pos);
-                    m_messages.back().message += " := ";
-                    start = pos;
-                }
-            }
-        }
-        assert(openings.size() == 0 && "Mismatched openings");
-        m_messages.emplace_back(macroName, lineInfo, resultType);
-        m_messages.back().message = trimmed(start, names.size() - 1);
-        m_messages.back().message += " := ";
-    }
-    Capturer::~Capturer() {
-        if ( !uncaught_exceptions() ){
-            assert( m_captured == m_messages.size() );
-            for( size_t i = 0; i < m_captured; ++i  )
-                m_resultCapture.popScopedMessage( m_messages[i] );
-        }
-    }
-
-    void Capturer::captureValue( size_t index, std::string const& value ) {
-        assert( index < m_messages.size() );
-        m_messages[index].message += value;
-        m_resultCapture.pushScopedMessage( m_messages[index] );
-        m_captured++;
-    }
-
-} // end namespace Catch
-// end catch_message.cpp
-// start catch_output_redirect.cpp
-
-// start catch_output_redirect.h
-#ifndef TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-#define TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-
-#include <cstdio>
-#include <iosfwd>
-#include <string>
-
-namespace Catch {
-
-    class RedirectedStream {
-        std::ostream& m_originalStream;
-        std::ostream& m_redirectionStream;
-        std::streambuf* m_prevBuf;
-
-    public:
-        RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream );
-        ~RedirectedStream();
-    };
-
-    class RedirectedStdOut {
-        ReusableStringStream m_rss;
-        RedirectedStream m_cout;
-    public:
-        RedirectedStdOut();
-        auto str() const -> std::string;
-    };
-
-    // StdErr has two constituent streams in C++, std::cerr and std::clog
-    // This means that we need to redirect 2 streams into 1 to keep proper
-    // order of writes
-    class RedirectedStdErr {
-        ReusableStringStream m_rss;
-        RedirectedStream m_cerr;
-        RedirectedStream m_clog;
-    public:
-        RedirectedStdErr();
-        auto str() const -> std::string;
-    };
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-
-    // Windows's implementation of std::tmpfile is terrible (it tries
-    // to create a file inside system folder, thus requiring elevated
-    // privileges for the binary), so we have to use tmpnam(_s) and
-    // create the file ourselves there.
-    class TempFile {
-    public:
-        TempFile(TempFile const&) = delete;
-        TempFile& operator=(TempFile const&) = delete;
-        TempFile(TempFile&&) = delete;
-        TempFile& operator=(TempFile&&) = delete;
-
-        TempFile();
-        ~TempFile();
-
-        std::FILE* getFile();
-        std::string getContents();
-
-    private:
-        std::FILE* m_file = nullptr;
-    #if defined(_MSC_VER)
-        char m_buffer[L_tmpnam] = { 0 };
-    #endif
-    };
-
-    class OutputRedirect {
-    public:
-        OutputRedirect(OutputRedirect const&) = delete;
-        OutputRedirect& operator=(OutputRedirect const&) = delete;
-        OutputRedirect(OutputRedirect&&) = delete;
-        OutputRedirect& operator=(OutputRedirect&&) = delete;
-
-        OutputRedirect(std::string& stdout_dest, std::string& stderr_dest);
-        ~OutputRedirect();
-
-    private:
-        int m_originalStdout = -1;
-        int m_originalStderr = -1;
-        TempFile m_stdoutFile;
-        TempFile m_stderrFile;
-        std::string& m_stdoutDest;
-        std::string& m_stderrDest;
-    };
-
-#endif
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-// end catch_output_redirect.h
-#include <cstdio>
-#include <cstring>
-#include <fstream>
-#include <sstream>
-#include <stdexcept>
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-    #if defined(_MSC_VER)
-    #include <io.h>      //_dup and _dup2
-    #define dup _dup
-    #define dup2 _dup2
-    #define fileno _fileno
-    #else
-    #include <unistd.h>  // dup and dup2
-    #endif
-#endif
-
-namespace Catch {
-
-    RedirectedStream::RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream )
-    :   m_originalStream( originalStream ),
-        m_redirectionStream( redirectionStream ),
-        m_prevBuf( m_originalStream.rdbuf() )
-    {
-        m_originalStream.rdbuf( m_redirectionStream.rdbuf() );
-    }
-
-    RedirectedStream::~RedirectedStream() {
-        m_originalStream.rdbuf( m_prevBuf );
-    }
-
-    RedirectedStdOut::RedirectedStdOut() : m_cout( Catch::cout(), m_rss.get() ) {}
-    auto RedirectedStdOut::str() const -> std::string { return m_rss.str(); }
-
-    RedirectedStdErr::RedirectedStdErr()
-    :   m_cerr( Catch::cerr(), m_rss.get() ),
-        m_clog( Catch::clog(), m_rss.get() )
-    {}
-    auto RedirectedStdErr::str() const -> std::string { return m_rss.str(); }
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-
-#if defined(_MSC_VER)
-    TempFile::TempFile() {
-        if (tmpnam_s(m_buffer)) {
-            CATCH_RUNTIME_ERROR("Could not get a temp filename");
-        }
-        if (fopen_s(&m_file, m_buffer, "w")) {
-            char buffer[100];
-            if (strerror_s(buffer, errno)) {
-                CATCH_RUNTIME_ERROR("Could not translate errno to a string");
-            }
-            CATCH_RUNTIME_ERROR("Coul dnot open the temp file: '" << m_buffer << "' because: " << buffer);
-        }
-    }
-#else
-    TempFile::TempFile() {
-        m_file = std::tmpfile();
-        if (!m_file) {
-            CATCH_RUNTIME_ERROR("Could not create a temp file.");
-        }
-    }
-
-#endif
-
-    TempFile::~TempFile() {
-         // TBD: What to do about errors here?
-         std::fclose(m_file);
-         // We manually create the file on Windows only, on Linux
-         // it will be autodeleted
-#if defined(_MSC_VER)
-         std::remove(m_buffer);
-#endif
-    }
-
-    FILE* TempFile::getFile() {
-        return m_file;
-    }
-
-    std::string TempFile::getContents() {
-        std::stringstream sstr;
-        char buffer[100] = {};
-        std::rewind(m_file);
-        while (std::fgets(buffer, sizeof(buffer), m_file)) {
-            sstr << buffer;
-        }
-        return sstr.str();
-    }
-
-    OutputRedirect::OutputRedirect(std::string& stdout_dest, std::string& stderr_dest) :
-        m_originalStdout(dup(1)),
-        m_originalStderr(dup(2)),
-        m_stdoutDest(stdout_dest),
-        m_stderrDest(stderr_dest) {
-        dup2(fileno(m_stdoutFile.getFile()), 1);
-        dup2(fileno(m_stderrFile.getFile()), 2);
-    }
-
-    OutputRedirect::~OutputRedirect() {
-        Catch::cout() << std::flush;
-        fflush(stdout);
-        // Since we support overriding these streams, we flush cerr
-        // even though std::cerr is unbuffered
-        Catch::cerr() << std::flush;
-        Catch::clog() << std::flush;
-        fflush(stderr);
-
-        dup2(m_originalStdout, 1);
-        dup2(m_originalStderr, 2);
-
-        m_stdoutDest += m_stdoutFile.getContents();
-        m_stderrDest += m_stderrFile.getContents();
-    }
-
-#endif // CATCH_CONFIG_NEW_CAPTURE
-
-} // namespace Catch
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-    #if defined(_MSC_VER)
-    #undef dup
-    #undef dup2
-    #undef fileno
-    #endif
-#endif
-// end catch_output_redirect.cpp
-// start catch_polyfills.cpp
-
-#include <cmath>
-
-namespace Catch {
-
-#if !defined(CATCH_CONFIG_POLYFILL_ISNAN)
-    bool isnan(float f) {
-        return std::isnan(f);
-    }
-    bool isnan(double d) {
-        return std::isnan(d);
-    }
-#else
-    // For now we only use this for embarcadero
-    bool isnan(float f) {
-        return std::_isnan(f);
-    }
-    bool isnan(double d) {
-        return std::_isnan(d);
-    }
-#endif
-
-} // end namespace Catch
-// end catch_polyfills.cpp
-// start catch_random_number_generator.cpp
-
-namespace Catch {
-
-    std::mt19937& rng() {
-        static std::mt19937 s_rng;
-        return s_rng;
-    }
-
-    void seedRng( IConfig const& config ) {
-        if( config.rngSeed() != 0 ) {
-            std::srand( config.rngSeed() );
-            rng().seed( config.rngSeed() );
-        }
-    }
-
-    unsigned int rngSeed() {
-        return getCurrentContext().getConfig()->rngSeed();
-    }
-}
-// end catch_random_number_generator.cpp
-// start catch_registry_hub.cpp
-
-// start catch_test_case_registry_impl.h
-
-#include <vector>
-#include <set>
-#include <algorithm>
-#include <ios>
-
-namespace Catch {
-
-    class TestCase;
-    struct IConfig;
-
-    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases );
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
-
-    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions );
-
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
-
-    class TestRegistry : public ITestCaseRegistry {
-    public:
-        virtual ~TestRegistry() = default;
-
-        virtual void registerTest( TestCase const& testCase );
-
-        std::vector<TestCase> const& getAllTests() const override;
-        std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const override;
-
-    private:
-        std::vector<TestCase> m_functions;
-        mutable RunTests::InWhatOrder m_currentSortOrder = RunTests::InDeclarationOrder;
-        mutable std::vector<TestCase> m_sortedFunctions;
-        std::size_t m_unnamedCount = 0;
-        std::ios_base::Init m_ostreamInit; // Forces cout/ cerr to be initialised
-    };
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    class TestInvokerAsFunction : public ITestInvoker {
-        void(*m_testAsFunction)();
-    public:
-        TestInvokerAsFunction( void(*testAsFunction)() ) noexcept;
-
-        void invoke() const override;
-    };
-
-    std::string extractClassName( StringRef const& classOrQualifiedMethodName );
-
-    ///////////////////////////////////////////////////////////////////////////
-
-} // end namespace Catch
-
-// end catch_test_case_registry_impl.h
-// start catch_reporter_registry.h
-
-#include <map>
-
-namespace Catch {
-
-    class ReporterRegistry : public IReporterRegistry {
-
-    public:
-
-        ~ReporterRegistry() override;
-
-        IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const override;
-
-        void registerReporter( std::string const& name, IReporterFactoryPtr const& factory );
-        void registerListener( IReporterFactoryPtr const& factory );
-
-        FactoryMap const& getFactories() const override;
-        Listeners const& getListeners() const override;
-
-    private:
-        FactoryMap m_factories;
-        Listeners m_listeners;
-    };
-}
-
-// end catch_reporter_registry.h
-// start catch_tag_alias_registry.h
-
-// start catch_tag_alias.h
-
-#include <string>
-
-namespace Catch {
-
-    struct TagAlias {
-        TagAlias(std::string const& _tag, SourceLineInfo _lineInfo);
-
-        std::string tag;
-        SourceLineInfo lineInfo;
-    };
-
-} // end namespace Catch
-
-// end catch_tag_alias.h
-#include <map>
-
-namespace Catch {
-
-    class TagAliasRegistry : public ITagAliasRegistry {
-    public:
-        ~TagAliasRegistry() override;
-        TagAlias const* find( std::string const& alias ) const override;
-        std::string expandAliases( std::string const& unexpandedTestSpec ) const override;
-        void add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo );
-
-    private:
-        std::map<std::string, TagAlias> m_registry;
-    };
-
-} // end namespace Catch
-
-// end catch_tag_alias_registry.h
-// start catch_startup_exception_registry.h
-
-#include <vector>
-#include <exception>
-
-namespace Catch {
-
-    class StartupExceptionRegistry {
-    public:
-        void add(std::exception_ptr const& exception) noexcept;
-        std::vector<std::exception_ptr> const& getExceptions() const noexcept;
-    private:
-        std::vector<std::exception_ptr> m_exceptions;
-    };
-
-} // end namespace Catch
-
-// end catch_startup_exception_registry.h
-// start catch_singletons.hpp
-
-namespace Catch {
-
-    struct ISingleton {
-        virtual ~ISingleton();
-    };
-
-    void addSingleton( ISingleton* singleton );
-    void cleanupSingletons();
-
-    template<typename SingletonImplT, typename InterfaceT = SingletonImplT, typename MutableInterfaceT = InterfaceT>
-    class Singleton : SingletonImplT, public ISingleton {
-
-        static auto getInternal() -> Singleton* {
-            static Singleton* s_instance = nullptr;
-            if( !s_instance ) {
-                s_instance = new Singleton;
-                addSingleton( s_instance );
-            }
-            return s_instance;
-        }
-
-    public:
-        static auto get() -> InterfaceT const& {
-            return *getInternal();
-        }
-        static auto getMutable() -> MutableInterfaceT& {
-            return *getInternal();
-        }
-    };
-
-} // namespace Catch
-
-// end catch_singletons.hpp
-namespace Catch {
-
-    namespace {
-
-        class RegistryHub : public IRegistryHub, public IMutableRegistryHub,
-                            private NonCopyable {
-
-        public: // IRegistryHub
-            RegistryHub() = default;
-            IReporterRegistry const& getReporterRegistry() const override {
-                return m_reporterRegistry;
-            }
-            ITestCaseRegistry const& getTestCaseRegistry() const override {
-                return m_testCaseRegistry;
-            }
-            IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const override {
-                return m_exceptionTranslatorRegistry;
-            }
-            ITagAliasRegistry const& getTagAliasRegistry() const override {
-                return m_tagAliasRegistry;
-            }
-            StartupExceptionRegistry const& getStartupExceptionRegistry() const override {
-                return m_exceptionRegistry;
-            }
-
-        public: // IMutableRegistryHub
-            void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) override {
-                m_reporterRegistry.registerReporter( name, factory );
-            }
-            void registerListener( IReporterFactoryPtr const& factory ) override {
-                m_reporterRegistry.registerListener( factory );
-            }
-            void registerTest( TestCase const& testInfo ) override {
-                m_testCaseRegistry.registerTest( testInfo );
-            }
-            void registerTranslator( const IExceptionTranslator* translator ) override {
-                m_exceptionTranslatorRegistry.registerTranslator( translator );
-            }
-            void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) override {
-                m_tagAliasRegistry.add( alias, tag, lineInfo );
-            }
-            void registerStartupException() noexcept override {
-                m_exceptionRegistry.add(std::current_exception());
-            }
-
-        private:
-            TestRegistry m_testCaseRegistry;
-            ReporterRegistry m_reporterRegistry;
-            ExceptionTranslatorRegistry m_exceptionTranslatorRegistry;
-            TagAliasRegistry m_tagAliasRegistry;
-            StartupExceptionRegistry m_exceptionRegistry;
-        };
-    }
-
-    using RegistryHubSingleton = Singleton<RegistryHub, IRegistryHub, IMutableRegistryHub>;
-
-    IRegistryHub const& getRegistryHub() {
-        return RegistryHubSingleton::get();
-    }
-    IMutableRegistryHub& getMutableRegistryHub() {
-        return RegistryHubSingleton::getMutable();
-    }
-    void cleanUp() {
-        cleanupSingletons();
-        cleanUpContext();
-    }
-    std::string translateActiveException() {
-        return getRegistryHub().getExceptionTranslatorRegistry().translateActiveException();
-    }
-
-} // end namespace Catch
-// end catch_registry_hub.cpp
-// start catch_reporter_registry.cpp
-
-namespace Catch {
-
-    ReporterRegistry::~ReporterRegistry() = default;
-
-    IStreamingReporterPtr ReporterRegistry::create( std::string const& name, IConfigPtr const& config ) const {
-        auto it =  m_factories.find( name );
-        if( it == m_factories.end() )
-            return nullptr;
-        return it->second->create( ReporterConfig( config ) );
-    }
-
-    void ReporterRegistry::registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) {
-        m_factories.emplace(name, factory);
-    }
-    void ReporterRegistry::registerListener( IReporterFactoryPtr const& factory ) {
-        m_listeners.push_back( factory );
-    }
-
-    IReporterRegistry::FactoryMap const& ReporterRegistry::getFactories() const {
-        return m_factories;
-    }
-    IReporterRegistry::Listeners const& ReporterRegistry::getListeners() const {
-        return m_listeners;
-    }
-
-}
-// end catch_reporter_registry.cpp
-// start catch_result_type.cpp
-
-namespace Catch {
-
-    bool isOk( ResultWas::OfType resultType ) {
-        return ( resultType & ResultWas::FailureBit ) == 0;
-    }
-    bool isJustInfo( int flags ) {
-        return flags == ResultWas::Info;
-    }
-
-    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs ) {
-        return static_cast<ResultDisposition::Flags>( static_cast<int>( lhs ) | static_cast<int>( rhs ) );
-    }
-
-    bool shouldContinueOnFailure( int flags )    { return ( flags & ResultDisposition::ContinueOnFailure ) != 0; }
-    bool shouldSuppressFailure( int flags )      { return ( flags & ResultDisposition::SuppressFail ) != 0; }
-
-} // end namespace Catch
-// end catch_result_type.cpp
-// start catch_run_context.cpp
-
-#include <cassert>
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace Generators {
-        struct GeneratorTracker : TestCaseTracking::TrackerBase, IGeneratorTracker {
-            size_t m_index = static_cast<size_t>( -1 );
-            GeneratorBasePtr m_generator;
-
-            GeneratorTracker( TestCaseTracking::NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-            :   TrackerBase( nameAndLocation, ctx, parent )
-            {}
-            ~GeneratorTracker();
-
-            static GeneratorTracker& acquire( TrackerContext& ctx, TestCaseTracking::NameAndLocation const& nameAndLocation ) {
-                std::shared_ptr<GeneratorTracker> tracker;
-
-                ITracker& currentTracker = ctx.currentTracker();
-                if( TestCaseTracking::ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-                    assert( childTracker );
-                    assert( childTracker->isIndexTracker() );
-                    tracker = std::static_pointer_cast<GeneratorTracker>( childTracker );
-                }
-                else {
-                    tracker = std::make_shared<GeneratorTracker>( nameAndLocation, ctx, &currentTracker );
-                    currentTracker.addChild( tracker );
-                }
-
-                if( !ctx.completedCycle() && !tracker->isComplete() ) {
-                    if( tracker->m_runState != ExecutingChildren && tracker->m_runState != NeedsAnotherRun )
-                        tracker->moveNext();
-                    tracker->open();
-                }
-
-                return *tracker;
-            }
-
-            void moveNext() {
-                m_index++;
-                m_children.clear();
-            }
-
-            // TrackerBase interface
-            bool isIndexTracker() const override { return true; }
-            auto hasGenerator() const -> bool override {
-                return !!m_generator;
-            }
-            void close() override {
-                TrackerBase::close();
-                if( m_runState == CompletedSuccessfully && m_index < m_generator->size()-1 )
-                    m_runState = Executing;
-            }
-
-            // IGeneratorTracker interface
-            auto getGenerator() const -> GeneratorBasePtr const& override {
-                return m_generator;
-            }
-            void setGenerator( GeneratorBasePtr&& generator ) override {
-                m_generator = std::move( generator );
-            }
-            auto getIndex() const -> size_t override {
-                return m_index;
-            }
-        };
-        GeneratorTracker::~GeneratorTracker() {}
-    }
-
-    RunContext::RunContext(IConfigPtr const& _config, IStreamingReporterPtr&& reporter)
-    :   m_runInfo(_config->name()),
-        m_context(getCurrentMutableContext()),
-        m_config(_config),
-        m_reporter(std::move(reporter)),
-        m_lastAssertionInfo{ StringRef(), SourceLineInfo("",0), StringRef(), ResultDisposition::Normal },
-        m_includeSuccessfulResults( m_config->includeSuccessfulResults() || m_reporter->getPreferences().shouldReportAllAssertions )
-    {
-        m_context.setRunner(this);
-        m_context.setConfig(m_config);
-        m_context.setResultCapture(this);
-        m_reporter->testRunStarting(m_runInfo);
-    }
-
-    RunContext::~RunContext() {
-        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, aborting()));
-    }
-
-    void RunContext::testGroupStarting(std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount) {
-        m_reporter->testGroupStarting(GroupInfo(testSpec, groupIndex, groupsCount));
-    }
-
-    void RunContext::testGroupEnded(std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount) {
-        m_reporter->testGroupEnded(TestGroupStats(GroupInfo(testSpec, groupIndex, groupsCount), totals, aborting()));
-    }
-
-    Totals RunContext::runTest(TestCase const& testCase) {
-        Totals prevTotals = m_totals;
-
-        std::string redirectedCout;
-        std::string redirectedCerr;
-
-        auto const& testInfo = testCase.getTestCaseInfo();
-
-        m_reporter->testCaseStarting(testInfo);
-
-        m_activeTestCase = &testCase;
-
-        ITracker& rootTracker = m_trackerContext.startRun();
-        assert(rootTracker.isSectionTracker());
-        static_cast<SectionTracker&>(rootTracker).addInitialFilters(m_config->getSectionsToRun());
-        do {
-            m_trackerContext.startCycle();
-            m_testCaseTracker = &SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(testInfo.name, testInfo.lineInfo));
-            runCurrentTest(redirectedCout, redirectedCerr);
-        } while (!m_testCaseTracker->isSuccessfullyCompleted() && !aborting());
-
-        Totals deltaTotals = m_totals.delta(prevTotals);
-        if (testInfo.expectedToFail() && deltaTotals.testCases.passed > 0) {
-            deltaTotals.assertions.failed++;
-            deltaTotals.testCases.passed--;
-            deltaTotals.testCases.failed++;
-        }
-        m_totals.testCases += deltaTotals.testCases;
-        m_reporter->testCaseEnded(TestCaseStats(testInfo,
-                                  deltaTotals,
-                                  redirectedCout,
-                                  redirectedCerr,
-                                  aborting()));
-
-        m_activeTestCase = nullptr;
-        m_testCaseTracker = nullptr;
-
-        return deltaTotals;
-    }
-
-    IConfigPtr RunContext::config() const {
-        return m_config;
-    }
-
-    IStreamingReporter& RunContext::reporter() const {
-        return *m_reporter;
-    }
-
-    void RunContext::assertionEnded(AssertionResult const & result) {
-        if (result.getResultType() == ResultWas::Ok) {
-            m_totals.assertions.passed++;
-            m_lastAssertionPassed = true;
-        } else if (!result.isOk()) {
-            m_lastAssertionPassed = false;
-            if( m_activeTestCase->getTestCaseInfo().okToFail() )
-                m_totals.assertions.failedButOk++;
-            else
-                m_totals.assertions.failed++;
-        }
-        else {
-            m_lastAssertionPassed = true;
-        }
-
-        // We have no use for the return value (whether messages should be cleared), because messages were made scoped
-        // and should be let to clear themselves out.
-        static_cast<void>(m_reporter->assertionEnded(AssertionStats(result, m_messages, m_totals)));
-
-        // Reset working state
-        resetAssertionInfo();
-        m_lastResult = result;
-    }
-    void RunContext::resetAssertionInfo() {
-        m_lastAssertionInfo.macroName = StringRef();
-        m_lastAssertionInfo.capturedExpression = "{Unknown expression after the reported line}"_sr;
-    }
-
-    bool RunContext::sectionStarted(SectionInfo const & sectionInfo, Counts & assertions) {
-        ITracker& sectionTracker = SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(sectionInfo.name, sectionInfo.lineInfo));
-        if (!sectionTracker.isOpen())
-            return false;
-        m_activeSections.push_back(&sectionTracker);
-
-        m_lastAssertionInfo.lineInfo = sectionInfo.lineInfo;
-
-        m_reporter->sectionStarting(sectionInfo);
-
-        assertions = m_totals.assertions;
-
-        return true;
-    }
-    auto RunContext::acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
-        using namespace Generators;
-        GeneratorTracker& tracker = GeneratorTracker::acquire( m_trackerContext, TestCaseTracking::NameAndLocation( "generator", lineInfo ) );
-        assert( tracker.isOpen() );
-        m_lastAssertionInfo.lineInfo = lineInfo;
-        return tracker;
-    }
-
-    bool RunContext::testForMissingAssertions(Counts& assertions) {
-        if (assertions.total() != 0)
-            return false;
-        if (!m_config->warnAboutMissingAssertions())
-            return false;
-        if (m_trackerContext.currentTracker().hasChildren())
-            return false;
-        m_totals.assertions.failed++;
-        assertions.failed++;
-        return true;
-    }
-
-    void RunContext::sectionEnded(SectionEndInfo const & endInfo) {
-        Counts assertions = m_totals.assertions - endInfo.prevAssertions;
-        bool missingAssertions = testForMissingAssertions(assertions);
-
-        if (!m_activeSections.empty()) {
-            m_activeSections.back()->close();
-            m_activeSections.pop_back();
-        }
-
-        m_reporter->sectionEnded(SectionStats(endInfo.sectionInfo, assertions, endInfo.durationInSeconds, missingAssertions));
-        m_messages.clear();
-    }
-
-    void RunContext::sectionEndedEarly(SectionEndInfo const & endInfo) {
-        if (m_unfinishedSections.empty())
-            m_activeSections.back()->fail();
-        else
-            m_activeSections.back()->close();
-        m_activeSections.pop_back();
-
-        m_unfinishedSections.push_back(endInfo);
-    }
-    void RunContext::benchmarkStarting( BenchmarkInfo const& info ) {
-        m_reporter->benchmarkStarting( info );
-    }
-    void RunContext::benchmarkEnded( BenchmarkStats const& stats ) {
-        m_reporter->benchmarkEnded( stats );
-    }
-
-    void RunContext::pushScopedMessage(MessageInfo const & message) {
-        m_messages.push_back(message);
-    }
-
-    void RunContext::popScopedMessage(MessageInfo const & message) {
-        m_messages.erase(std::remove(m_messages.begin(), m_messages.end(), message), m_messages.end());
-    }
-
-    std::string RunContext::getCurrentTestName() const {
-        return m_activeTestCase
-            ? m_activeTestCase->getTestCaseInfo().name
-            : std::string();
-    }
-
-    const AssertionResult * RunContext::getLastResult() const {
-        return &(*m_lastResult);
-    }
-
-    void RunContext::exceptionEarlyReported() {
-        m_shouldReportUnexpected = false;
-    }
-
-    void RunContext::handleFatalErrorCondition( StringRef message ) {
-        // First notify reporter that bad things happened
-        m_reporter->fatalErrorEncountered(message);
-
-        // Don't rebuild the result -- the stringification itself can cause more fatal errors
-        // Instead, fake a result data.
-        AssertionResultData tempResult( ResultWas::FatalErrorCondition, { false } );
-        tempResult.message = message;
-        AssertionResult result(m_lastAssertionInfo, tempResult);
-
-        assertionEnded(result);
-
-        handleUnfinishedSections();
-
-        // Recreate section for test case (as we will lose the one that was in scope)
-        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
-        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
-
-        Counts assertions;
-        assertions.failed = 1;
-        SectionStats testCaseSectionStats(testCaseSection, assertions, 0, false);
-        m_reporter->sectionEnded(testCaseSectionStats);
-
-        auto const& testInfo = m_activeTestCase->getTestCaseInfo();
-
-        Totals deltaTotals;
-        deltaTotals.testCases.failed = 1;
-        deltaTotals.assertions.failed = 1;
-        m_reporter->testCaseEnded(TestCaseStats(testInfo,
-                                  deltaTotals,
-                                  std::string(),
-                                  std::string(),
-                                  false));
-        m_totals.testCases.failed++;
-        testGroupEnded(std::string(), m_totals, 1, 1);
-        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, false));
-    }
-
-    bool RunContext::lastAssertionPassed() {
-         return m_lastAssertionPassed;
-    }
-
-    void RunContext::assertionPassed() {
-        m_lastAssertionPassed = true;
-        ++m_totals.assertions.passed;
-        resetAssertionInfo();
-    }
-
-    bool RunContext::aborting() const {
-        return m_totals.assertions.failed >= static_cast<std::size_t>(m_config->abortAfter());
-    }
-
-    void RunContext::runCurrentTest(std::string & redirectedCout, std::string & redirectedCerr) {
-        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
-        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
-        m_reporter->sectionStarting(testCaseSection);
-        Counts prevAssertions = m_totals.assertions;
-        double duration = 0;
-        m_shouldReportUnexpected = true;
-        m_lastAssertionInfo = { "TEST_CASE"_sr, testCaseInfo.lineInfo, StringRef(), ResultDisposition::Normal };
-
-        seedRng(*m_config);
-
-        Timer timer;
-        CATCH_TRY {
-            if (m_reporter->getPreferences().shouldRedirectStdOut) {
-#if !defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
-                RedirectedStdOut redirectedStdOut;
-                RedirectedStdErr redirectedStdErr;
-
-                timer.start();
-                invokeActiveTestCase();
-                redirectedCout += redirectedStdOut.str();
-                redirectedCerr += redirectedStdErr.str();
-#else
-                OutputRedirect r(redirectedCout, redirectedCerr);
-                timer.start();
-                invokeActiveTestCase();
-#endif
-            } else {
-                timer.start();
-                invokeActiveTestCase();
-            }
-            duration = timer.getElapsedSeconds();
-        } CATCH_CATCH_ANON (TestFailureException&) {
-            // This just means the test was aborted due to failure
-        } CATCH_CATCH_ALL {
-            // Under CATCH_CONFIG_FAST_COMPILE, unexpected exceptions under REQUIRE assertions
-            // are reported without translation at the point of origin.
-            if( m_shouldReportUnexpected ) {
-                AssertionReaction dummyReaction;
-                handleUnexpectedInflightException( m_lastAssertionInfo, translateActiveException(), dummyReaction );
-            }
-        }
-        Counts assertions = m_totals.assertions - prevAssertions;
-        bool missingAssertions = testForMissingAssertions(assertions);
-
-        m_testCaseTracker->close();
-        handleUnfinishedSections();
-        m_messages.clear();
-
-        SectionStats testCaseSectionStats(testCaseSection, assertions, duration, missingAssertions);
-        m_reporter->sectionEnded(testCaseSectionStats);
-    }
-
-    void RunContext::invokeActiveTestCase() {
-        FatalConditionHandler fatalConditionHandler; // Handle signals
-        m_activeTestCase->invoke();
-        fatalConditionHandler.reset();
-    }
-
-    void RunContext::handleUnfinishedSections() {
-        // If sections ended prematurely due to an exception we stored their
-        // infos here so we can tear them down outside the unwind process.
-        for (auto it = m_unfinishedSections.rbegin(),
-             itEnd = m_unfinishedSections.rend();
-             it != itEnd;
-             ++it)
-            sectionEnded(*it);
-        m_unfinishedSections.clear();
-    }
-
-    void RunContext::handleExpr(
-        AssertionInfo const& info,
-        ITransientExpression const& expr,
-        AssertionReaction& reaction
-    ) {
-        m_reporter->assertionStarting( info );
-
-        bool negated = isFalseTest( info.resultDisposition );
-        bool result = expr.getResult() != negated;
-
-        if( result ) {
-            if (!m_includeSuccessfulResults) {
-                assertionPassed();
-            }
-            else {
-                reportExpr(info, ResultWas::Ok, &expr, negated);
-            }
-        }
-        else {
-            reportExpr(info, ResultWas::ExpressionFailed, &expr, negated );
-            populateReaction( reaction );
-        }
-    }
-    void RunContext::reportExpr(
-            AssertionInfo const &info,
-            ResultWas::OfType resultType,
-            ITransientExpression const *expr,
-            bool negated ) {
-
-        m_lastAssertionInfo = info;
-        AssertionResultData data( resultType, LazyExpression( negated ) );
-
-        AssertionResult assertionResult{ info, data };
-        assertionResult.m_resultData.lazyExpression.m_transientExpression = expr;
-
-        assertionEnded( assertionResult );
-    }
-
-    void RunContext::handleMessage(
-            AssertionInfo const& info,
-            ResultWas::OfType resultType,
-            StringRef const& message,
-            AssertionReaction& reaction
-    ) {
-        m_reporter->assertionStarting( info );
-
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( resultType, LazyExpression( false ) );
-        data.message = message;
-        AssertionResult assertionResult{ m_lastAssertionInfo, data };
-        assertionEnded( assertionResult );
-        if( !assertionResult.isOk() )
-            populateReaction( reaction );
-    }
-    void RunContext::handleUnexpectedExceptionNotThrown(
-            AssertionInfo const& info,
-            AssertionReaction& reaction
-    ) {
-        handleNonExpr(info, Catch::ResultWas::DidntThrowException, reaction);
-    }
-
-    void RunContext::handleUnexpectedInflightException(
-            AssertionInfo const& info,
-            std::string const& message,
-            AssertionReaction& reaction
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
-        data.message = message;
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-        populateReaction( reaction );
-    }
-
-    void RunContext::populateReaction( AssertionReaction& reaction ) {
-        reaction.shouldDebugBreak = m_config->shouldDebugBreak();
-        reaction.shouldThrow = aborting() || (m_lastAssertionInfo.resultDisposition & ResultDisposition::Normal);
-    }
-
-    void RunContext::handleIncomplete(
-            AssertionInfo const& info
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
-        data.message = "Exception translation was disabled by CATCH_CONFIG_FAST_COMPILE";
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-    }
-    void RunContext::handleNonExpr(
-            AssertionInfo const &info,
-            ResultWas::OfType resultType,
-            AssertionReaction &reaction
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( resultType, LazyExpression( false ) );
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-
-        if( !assertionResult.isOk() )
-            populateReaction( reaction );
-    }
-
-    IResultCapture& getResultCapture() {
-        if (auto* capture = getCurrentContext().getResultCapture())
-            return *capture;
-        else
-            CATCH_INTERNAL_ERROR("No result capture instance");
-    }
-}
-// end catch_run_context.cpp
-// start catch_section.cpp
-
-namespace Catch {
-
-    Section::Section( SectionInfo const& info )
-    :   m_info( info ),
-        m_sectionIncluded( getResultCapture().sectionStarted( m_info, m_assertions ) )
-    {
-        m_timer.start();
-    }
-
-    Section::~Section() {
-        if( m_sectionIncluded ) {
-            SectionEndInfo endInfo{ m_info, m_assertions, m_timer.getElapsedSeconds() };
-            if( uncaught_exceptions() )
-                getResultCapture().sectionEndedEarly( endInfo );
-            else
-                getResultCapture().sectionEnded( endInfo );
-        }
-    }
-
-    // This indicates whether the section should be executed or not
-    Section::operator bool() const {
-        return m_sectionIncluded;
-    }
-
-} // end namespace Catch
-// end catch_section.cpp
-// start catch_section_info.cpp
-
-namespace Catch {
-
-    SectionInfo::SectionInfo
-        (   SourceLineInfo const& _lineInfo,
-            std::string const& _name )
-    :   name( _name ),
-        lineInfo( _lineInfo )
-    {}
-
-} // end namespace Catch
-// end catch_section_info.cpp
-// start catch_session.cpp
-
-// start catch_session.h
-
-#include <memory>
-
-namespace Catch {
-
-    class Session : NonCopyable {
-    public:
-
-        Session();
-        ~Session() override;
-
-        void showHelp() const;
-        void libIdentify();
-
-        int applyCommandLine( int argc, char const * const * argv );
-    #if defined(CATCH_CONFIG_WCHAR) && defined(WIN32) && defined(UNICODE)
-        int applyCommandLine( int argc, wchar_t const * const * argv );
-    #endif
-
-        void useConfigData( ConfigData const& configData );
-
-        template<typename CharT>
-        int run(int argc, CharT const * const argv[]) {
-            if (m_startupExceptions)
-                return 1;
-            int returnCode = applyCommandLine(argc, argv);
-            if (returnCode == 0)
-                returnCode = run();
-            return returnCode;
-        }
-
-        int run();
-
-        clara::Parser const& cli() const;
-        void cli( clara::Parser const& newParser );
-        ConfigData& configData();
-        Config& config();
-    private:
-        int runInternal();
-
-        clara::Parser m_cli;
-        ConfigData m_configData;
-        std::shared_ptr<Config> m_config;
-        bool m_startupExceptions = false;
-    };
-
-} // end namespace Catch
-
-// end catch_session.h
-// start catch_version.h
-
-#include <iosfwd>
-
-namespace Catch {
-
-    // Versioning information
-    struct Version {
-        Version( Version const& ) = delete;
-        Version& operator=( Version const& ) = delete;
-        Version(    unsigned int _majorVersion,
-                    unsigned int _minorVersion,
-                    unsigned int _patchNumber,
-                    char const * const _branchName,
-                    unsigned int _buildNumber );
-
-        unsigned int const majorVersion;
-        unsigned int const minorVersion;
-        unsigned int const patchNumber;
-
-        // buildNumber is only used if branchName is not null
-        char const * const branchName;
-        unsigned int const buildNumber;
-
-        friend std::ostream& operator << ( std::ostream& os, Version const& version );
-    };
-
-    Version const& libraryVersion();
-}
-
-// end catch_version.h
-#include <cstdlib>
-#include <iomanip>
-
-namespace Catch {
-
-    namespace {
-        const int MaxExitCode = 255;
-
-        IStreamingReporterPtr createReporter(std::string const& reporterName, IConfigPtr const& config) {
-            auto reporter = Catch::getRegistryHub().getReporterRegistry().create(reporterName, config);
-            CATCH_ENFORCE(reporter, "No reporter registered with name: '" << reporterName << "'");
-
-            return reporter;
-        }
-
-        IStreamingReporterPtr makeReporter(std::shared_ptr<Config> const& config) {
-            if (Catch::getRegistryHub().getReporterRegistry().getListeners().empty()) {
-                return createReporter(config->getReporterName(), config);
-            }
-
-            auto multi = std::unique_ptr<ListeningReporter>(new ListeningReporter);
-
-            auto const& listeners = Catch::getRegistryHub().getReporterRegistry().getListeners();
-            for (auto const& listener : listeners) {
-                multi->addListener(listener->create(Catch::ReporterConfig(config)));
-            }
-            multi->addReporter(createReporter(config->getReporterName(), config));
-            return std::move(multi);
-        }
-
-        Catch::Totals runTests(std::shared_ptr<Config> const& config) {
-            auto reporter = makeReporter(config);
-
-            RunContext context(config, std::move(reporter));
-
-            Totals totals;
-
-            context.testGroupStarting(config->name(), 1, 1);
-
-            TestSpec testSpec = config->testSpec();
-
-            auto const& allTestCases = getAllTestCasesSorted(*config);
-            for (auto const& testCase : allTestCases) {
-                if (!context.aborting() && matchTest(testCase, testSpec, *config))
-                    totals += context.runTest(testCase);
-                else
-                    context.reporter().skipTest(testCase);
-            }
-
-            if (config->warnAboutNoTests() && totals.testCases.total() == 0) {
-                ReusableStringStream testConfig;
-
-                bool first = true;
-                for (const auto& input : config->getTestsOrTags()) {
-                    if (!first) { testConfig << ' '; }
-                    first = false;
-                    testConfig << input;
-                }
-
-                context.reporter().noMatchingTestCases(testConfig.str());
-                totals.error = -1;
-            }
-
-            context.testGroupEnded(config->name(), totals, 1, 1);
-            return totals;
-        }
-
-        void applyFilenamesAsTags(Catch::IConfig const& config) {
-            auto& tests = const_cast<std::vector<TestCase>&>(getAllTestCasesSorted(config));
-            for (auto& testCase : tests) {
-                auto tags = testCase.tags;
-
-                std::string filename = testCase.lineInfo.file;
-                auto lastSlash = filename.find_last_of("\\/");
-                if (lastSlash != std::string::npos) {
-                    filename.erase(0, lastSlash);
-                    filename[0] = '#';
-                }
-
-                auto lastDot = filename.find_last_of('.');
-                if (lastDot != std::string::npos) {
-                    filename.erase(lastDot);
-                }
-
-                tags.push_back(std::move(filename));
-                setTags(testCase, tags);
-            }
-        }
-
-    } // anon namespace
-
-    Session::Session() {
-        static bool alreadyInstantiated = false;
-        if( alreadyInstantiated ) {
-            CATCH_TRY { CATCH_INTERNAL_ERROR( "Only one instance of Catch::Session can ever be used" ); }
-            CATCH_CATCH_ALL { getMutableRegistryHub().registerStartupException(); }
-        }
-
-        // There cannot be exceptions at startup in no-exception mode.
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        const auto& exceptions = getRegistryHub().getStartupExceptionRegistry().getExceptions();
-        if ( !exceptions.empty() ) {
-            m_startupExceptions = true;
-            Colour colourGuard( Colour::Red );
-            Catch::cerr() << "Errors occurred during startup!" << '\n';
-            // iterate over all exceptions and notify user
-            for ( const auto& ex_ptr : exceptions ) {
-                try {
-                    std::rethrow_exception(ex_ptr);
-                } catch ( std::exception const& ex ) {
-                    Catch::cerr() << Column( ex.what() ).indent(2) << '\n';
-                }
-            }
-        }
-#endif
-
-        alreadyInstantiated = true;
-        m_cli = makeCommandLineParser( m_configData );
-    }
-    Session::~Session() {
-        Catch::cleanUp();
-    }
-
-    void Session::showHelp() const {
-        Catch::cout()
-                << "\nCatch v" << libraryVersion() << "\n"
-                << m_cli << std::endl
-                << "For more detailed usage please see the project docs\n" << std::endl;
-    }
-    void Session::libIdentify() {
-        Catch::cout()
-                << std::left << std::setw(16) << "description: " << "A Catch test executable\n"
-                << std::left << std::setw(16) << "category: " << "testframework\n"
-                << std::left << std::setw(16) << "framework: " << "Catch Test\n"
-                << std::left << std::setw(16) << "version: " << libraryVersion() << std::endl;
-    }
-
-    int Session::applyCommandLine( int argc, char const * const * argv ) {
-        if( m_startupExceptions )
-            return 1;
-
-        auto result = m_cli.parse( clara::Args( argc, argv ) );
-        if( !result ) {
-            Catch::cerr()
-                << Colour( Colour::Red )
-                << "\nError(s) in input:\n"
-                << Column( result.errorMessage() ).indent( 2 )
-                << "\n\n";
-            Catch::cerr() << "Run with -? for usage\n" << std::endl;
-            return MaxExitCode;
-        }
-
-        if( m_configData.showHelp )
-            showHelp();
-        if( m_configData.libIdentify )
-            libIdentify();
-        m_config.reset();
-        return 0;
-    }
-
-#if defined(CATCH_CONFIG_WCHAR) && defined(WIN32) && defined(UNICODE)
-    int Session::applyCommandLine( int argc, wchar_t const * const * argv ) {
-
-        char **utf8Argv = new char *[ argc ];
-
-        for ( int i = 0; i < argc; ++i ) {
-            int bufSize = WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, NULL, 0, NULL, NULL );
-
-            utf8Argv[ i ] = new char[ bufSize ];
-
-            WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, utf8Argv[i], bufSize, NULL, NULL );
-        }
-
-        int returnCode = applyCommandLine( argc, utf8Argv );
-
-        for ( int i = 0; i < argc; ++i )
-            delete [] utf8Argv[ i ];
-
-        delete [] utf8Argv;
-
-        return returnCode;
-    }
-#endif
-
-    void Session::useConfigData( ConfigData const& configData ) {
-        m_configData = configData;
-        m_config.reset();
-    }
-
-    int Session::run() {
-        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeStart ) != 0 ) {
-            Catch::cout() << "...waiting for enter/ return before starting" << std::endl;
-            static_cast<void>(std::getchar());
-        }
-        int exitCode = runInternal();
-        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeExit ) != 0 ) {
-            Catch::cout() << "...waiting for enter/ return before exiting, with code: " << exitCode << std::endl;
-            static_cast<void>(std::getchar());
-        }
-        return exitCode;
-    }
-
-    clara::Parser const& Session::cli() const {
-        return m_cli;
-    }
-    void Session::cli( clara::Parser const& newParser ) {
-        m_cli = newParser;
-    }
-    ConfigData& Session::configData() {
-        return m_configData;
-    }
-    Config& Session::config() {
-        if( !m_config )
-            m_config = std::make_shared<Config>( m_configData );
-        return *m_config;
-    }
-
-    int Session::runInternal() {
-        if( m_startupExceptions )
-            return 1;
-
-        if (m_configData.showHelp || m_configData.libIdentify) {
-            return 0;
-        }
-
-        CATCH_TRY {
-            config(); // Force config to be constructed
-
-            seedRng( *m_config );
-
-            if( m_configData.filenamesAsTags )
-                applyFilenamesAsTags( *m_config );
-
-            // Handle list request
-            if( Option<std::size_t> listed = list( config() ) )
-                return static_cast<int>( *listed );
-
-            auto totals = runTests( m_config );
-            // Note that on unices only the lower 8 bits are usually used, clamping
-            // the return value to 255 prevents false negative when some multiple
-            // of 256 tests has failed
-            return (std::min) (MaxExitCode, (std::max) (totals.error, static_cast<int>(totals.assertions.failed)));
-        }
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        catch( std::exception& ex ) {
-            Catch::cerr() << ex.what() << std::endl;
-            return MaxExitCode;
-        }
-#endif
-    }
-
-} // end namespace Catch
-// end catch_session.cpp
-// start catch_singletons.cpp
-
-#include <vector>
-
-namespace Catch {
-
-    namespace {
-        static auto getSingletons() -> std::vector<ISingleton*>*& {
-            static std::vector<ISingleton*>* g_singletons = nullptr;
-            if( !g_singletons )
-                g_singletons = new std::vector<ISingleton*>();
-            return g_singletons;
-        }
-    }
-
-    ISingleton::~ISingleton() {}
-
-    void addSingleton(ISingleton* singleton ) {
-        getSingletons()->push_back( singleton );
-    }
-    void cleanupSingletons() {
-        auto& singletons = getSingletons();
-        for( auto singleton : *singletons )
-            delete singleton;
-        delete singletons;
-        singletons = nullptr;
-    }
-
-} // namespace Catch
-// end catch_singletons.cpp
-// start catch_startup_exception_registry.cpp
-
-namespace Catch {
-void StartupExceptionRegistry::add( std::exception_ptr const& exception ) noexcept {
-        CATCH_TRY {
-            m_exceptions.push_back(exception);
-        } CATCH_CATCH_ALL {
-            // If we run out of memory during start-up there's really not a lot more we can do about it
-            std::terminate();
-        }
-    }
-
-    std::vector<std::exception_ptr> const& StartupExceptionRegistry::getExceptions() const noexcept {
-        return m_exceptions;
-    }
-
-} // end namespace Catch
-// end catch_startup_exception_registry.cpp
-// start catch_stream.cpp
-
-#include <cstdio>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    Catch::IStream::~IStream() = default;
-
-    namespace detail { namespace {
-        template<typename WriterF, std::size_t bufferSize=256>
-        class StreamBufImpl : public std::streambuf {
-            char data[bufferSize];
-            WriterF m_writer;
-
-        public:
-            StreamBufImpl() {
-                setp( data, data + sizeof(data) );
-            }
-
-            ~StreamBufImpl() noexcept {
-                StreamBufImpl::sync();
-            }
-
-        private:
-            int overflow( int c ) override {
-                sync();
-
-                if( c != EOF ) {
-                    if( pbase() == epptr() )
-                        m_writer( std::string( 1, static_cast<char>( c ) ) );
-                    else
-                        sputc( static_cast<char>( c ) );
-                }
-                return 0;
-            }
-
-            int sync() override {
-                if( pbase() != pptr() ) {
-                    m_writer( std::string( pbase(), static_cast<std::string::size_type>( pptr() - pbase() ) ) );
-                    setp( pbase(), epptr() );
-                }
-                return 0;
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        struct OutputDebugWriter {
-
-            void operator()( std::string const&str ) {
-                writeToDebugConsole( str );
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class FileStream : public IStream {
-            mutable std::ofstream m_ofs;
-        public:
-            FileStream( StringRef filename ) {
-                m_ofs.open( filename.c_str() );
-                CATCH_ENFORCE( !m_ofs.fail(), "Unable to open file: '" << filename << "'" );
-            }
-            ~FileStream() override = default;
-        public: // IStream
-            std::ostream& stream() const override {
-                return m_ofs;
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class CoutStream : public IStream {
-            mutable std::ostream m_os;
-        public:
-            // Store the streambuf from cout up-front because
-            // cout may get redirected when running tests
-            CoutStream() : m_os( Catch::cout().rdbuf() ) {}
-            ~CoutStream() override = default;
-
-        public: // IStream
-            std::ostream& stream() const override { return m_os; }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class DebugOutStream : public IStream {
-            std::unique_ptr<StreamBufImpl<OutputDebugWriter>> m_streamBuf;
-            mutable std::ostream m_os;
-        public:
-            DebugOutStream()
-            :   m_streamBuf( new StreamBufImpl<OutputDebugWriter>() ),
-                m_os( m_streamBuf.get() )
-            {}
-
-            ~DebugOutStream() override = default;
-
-        public: // IStream
-            std::ostream& stream() const override { return m_os; }
-        };
-
-    }} // namespace anon::detail
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    auto makeStream( StringRef const &filename ) -> IStream const* {
-        if( filename.empty() )
-            return new detail::CoutStream();
-        else if( filename[0] == '%' ) {
-            if( filename == "%debug" )
-                return new detail::DebugOutStream();
-            else
-                CATCH_ERROR( "Unrecognised stream: '" << filename << "'" );
-        }
-        else
-            return new detail::FileStream( filename );
-    }
-
-    // This class encapsulates the idea of a pool of ostringstreams that can be reused.
-    struct StringStreams {
-        std::vector<std::unique_ptr<std::ostringstream>> m_streams;
-        std::vector<std::size_t> m_unused;
-        std::ostringstream m_referenceStream; // Used for copy state/ flags from
-
-        auto add() -> std::size_t {
-            if( m_unused.empty() ) {
-                m_streams.push_back( std::unique_ptr<std::ostringstream>( new std::ostringstream ) );
-                return m_streams.size()-1;
-            }
-            else {
-                auto index = m_unused.back();
-                m_unused.pop_back();
-                return index;
-            }
-        }
-
-        void release( std::size_t index ) {
-            m_streams[index]->copyfmt( m_referenceStream ); // Restore initial flags and other state
-            m_unused.push_back(index);
-        }
-    };
-
-    ReusableStringStream::ReusableStringStream()
-    :   m_index( Singleton<StringStreams>::getMutable().add() ),
-        m_oss( Singleton<StringStreams>::getMutable().m_streams[m_index].get() )
-    {}
-
-    ReusableStringStream::~ReusableStringStream() {
-        static_cast<std::ostringstream*>( m_oss )->str("");
-        m_oss->clear();
-        Singleton<StringStreams>::getMutable().release( m_index );
-    }
-
-    auto ReusableStringStream::str() const -> std::string {
-        return static_cast<std::ostringstream*>( m_oss )->str();
-    }
-
-    ///////////////////////////////////////////////////////////////////////////
-
-#ifndef CATCH_CONFIG_NOSTDOUT // If you #define this you must implement these functions
-    std::ostream& cout() { return std::cout; }
-    std::ostream& cerr() { return std::cerr; }
-    std::ostream& clog() { return std::clog; }
-#endif
-}
-// end catch_stream.cpp
-// start catch_string_manip.cpp
-
-#include <algorithm>
-#include <ostream>
-#include <cstring>
-#include <cctype>
-
-namespace Catch {
-
-    namespace {
-        char toLowerCh(char c) {
-            return static_cast<char>( std::tolower( c ) );
-        }
-    }
-
-    bool startsWith( std::string const& s, std::string const& prefix ) {
-        return s.size() >= prefix.size() && std::equal(prefix.begin(), prefix.end(), s.begin());
-    }
-    bool startsWith( std::string const& s, char prefix ) {
-        return !s.empty() && s[0] == prefix;
-    }
-    bool endsWith( std::string const& s, std::string const& suffix ) {
-        return s.size() >= suffix.size() && std::equal(suffix.rbegin(), suffix.rend(), s.rbegin());
-    }
-    bool endsWith( std::string const& s, char suffix ) {
-        return !s.empty() && s[s.size()-1] == suffix;
-    }
-    bool contains( std::string const& s, std::string const& infix ) {
-        return s.find( infix ) != std::string::npos;
-    }
-    void toLowerInPlace( std::string& s ) {
-        std::transform( s.begin(), s.end(), s.begin(), toLowerCh );
-    }
-    std::string toLower( std::string const& s ) {
-        std::string lc = s;
-        toLowerInPlace( lc );
-        return lc;
-    }
-    std::string trim( std::string const& str ) {
-        static char const* whitespaceChars = "\n\r\t ";
-        std::string::size_type start = str.find_first_not_of( whitespaceChars );
-        std::string::size_type end = str.find_last_not_of( whitespaceChars );
-
-        return start != std::string::npos ? str.substr( start, 1+end-start ) : std::string();
-    }
-
-    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis ) {
-        bool replaced = false;
-        std::size_t i = str.find( replaceThis );
-        while( i != std::string::npos ) {
-            replaced = true;
-            str = str.substr( 0, i ) + withThis + str.substr( i+replaceThis.size() );
-            if( i < str.size()-withThis.size() )
-                i = str.find( replaceThis, i+withThis.size() );
-            else
-                i = std::string::npos;
-        }
-        return replaced;
-    }
-
-    pluralise::pluralise( std::size_t count, std::string const& label )
-    :   m_count( count ),
-        m_label( label )
-    {}
-
-    std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser ) {
-        os << pluraliser.m_count << ' ' << pluraliser.m_label;
-        if( pluraliser.m_count != 1 )
-            os << 's';
-        return os;
-    }
-
-}
-// end catch_string_manip.cpp
-// start catch_stringref.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-#include <ostream>
-#include <cstring>
-#include <cstdint>
-
-namespace {
-    const uint32_t byte_2_lead = 0xC0;
-    const uint32_t byte_3_lead = 0xE0;
-    const uint32_t byte_4_lead = 0xF0;
-}
-
-namespace Catch {
-    StringRef::StringRef( char const* rawChars ) noexcept
-    : StringRef( rawChars, static_cast<StringRef::size_type>(std::strlen(rawChars) ) )
-    {}
-
-    StringRef::operator std::string() const {
-        return std::string( m_start, m_size );
-    }
-
-    void StringRef::swap( StringRef& other ) noexcept {
-        std::swap( m_start, other.m_start );
-        std::swap( m_size, other.m_size );
-        std::swap( m_data, other.m_data );
-    }
-
-    auto StringRef::c_str() const -> char const* {
-        if( isSubstring() )
-           const_cast<StringRef*>( this )->takeOwnership();
-        return m_start;
-    }
-    auto StringRef::currentData() const noexcept -> char const* {
-        return m_start;
-    }
-
-    auto StringRef::isOwned() const noexcept -> bool {
-        return m_data != nullptr;
-    }
-    auto StringRef::isSubstring() const noexcept -> bool {
-        return m_start[m_size] != '\0';
-    }
-
-    void StringRef::takeOwnership() {
-        if( !isOwned() ) {
-            m_data = new char[m_size+1];
-            memcpy( m_data, m_start, m_size );
-            m_data[m_size] = '\0';
-            m_start = m_data;
-        }
-    }
-    auto StringRef::substr( size_type start, size_type size ) const noexcept -> StringRef {
-        if( start < m_size )
-            return StringRef( m_start+start, size );
-        else
-            return StringRef();
-    }
-    auto StringRef::operator == ( StringRef const& other ) const noexcept -> bool {
-        return
-            size() == other.size() &&
-            (std::strncmp( m_start, other.m_start, size() ) == 0);
-    }
-    auto StringRef::operator != ( StringRef const& other ) const noexcept -> bool {
-        return !operator==( other );
-    }
-
-    auto StringRef::operator[](size_type index) const noexcept -> char {
-        return m_start[index];
-    }
-
-    auto StringRef::numberOfCharacters() const noexcept -> size_type {
-        size_type noChars = m_size;
-        // Make adjustments for uft encodings
-        for( size_type i=0; i < m_size; ++i ) {
-            char c = m_start[i];
-            if( ( c & byte_2_lead ) == byte_2_lead ) {
-                noChars--;
-                if (( c & byte_3_lead ) == byte_3_lead )
-                    noChars--;
-                if( ( c & byte_4_lead ) == byte_4_lead )
-                    noChars--;
-            }
-        }
-        return noChars;
-    }
-
-    auto operator + ( StringRef const& lhs, StringRef const& rhs ) -> std::string {
-        std::string str;
-        str.reserve( lhs.size() + rhs.size() );
-        str += lhs;
-        str += rhs;
-        return str;
-    }
-    auto operator + ( StringRef const& lhs, const char* rhs ) -> std::string {
-        return std::string( lhs ) + std::string( rhs );
-    }
-    auto operator + ( char const* lhs, StringRef const& rhs ) -> std::string {
-        return std::string( lhs ) + std::string( rhs );
-    }
-
-    auto operator << ( std::ostream& os, StringRef const& str ) -> std::ostream& {
-        return os.write(str.currentData(), str.size());
-    }
-
-    auto operator+=( std::string& lhs, StringRef const& rhs ) -> std::string& {
-        lhs.append(rhs.currentData(), rhs.size());
-        return lhs;
-    }
-
-} // namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-// end catch_stringref.cpp
-// start catch_tag_alias.cpp
-
-namespace Catch {
-    TagAlias::TagAlias(std::string const & _tag, SourceLineInfo _lineInfo): tag(_tag), lineInfo(_lineInfo) {}
-}
-// end catch_tag_alias.cpp
-// start catch_tag_alias_autoregistrar.cpp
-
-namespace Catch {
-
-    RegistrarForTagAliases::RegistrarForTagAliases(char const* alias, char const* tag, SourceLineInfo const& lineInfo) {
-        CATCH_TRY {
-            getMutableRegistryHub().registerTagAlias(alias, tag, lineInfo);
-        } CATCH_CATCH_ALL {
-            // Do not throw when constructing global objects, instead register the exception to be processed later
-            getMutableRegistryHub().registerStartupException();
-        }
-    }
-
-}
-// end catch_tag_alias_autoregistrar.cpp
-// start catch_tag_alias_registry.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    TagAliasRegistry::~TagAliasRegistry() {}
-
-    TagAlias const* TagAliasRegistry::find( std::string const& alias ) const {
-        auto it = m_registry.find( alias );
-        if( it != m_registry.end() )
-            return &(it->second);
-        else
-            return nullptr;
-    }
-
-    std::string TagAliasRegistry::expandAliases( std::string const& unexpandedTestSpec ) const {
-        std::string expandedTestSpec = unexpandedTestSpec;
-        for( auto const& registryKvp : m_registry ) {
-            std::size_t pos = expandedTestSpec.find( registryKvp.first );
-            if( pos != std::string::npos ) {
-                expandedTestSpec =  expandedTestSpec.substr( 0, pos ) +
-                                    registryKvp.second.tag +
-                                    expandedTestSpec.substr( pos + registryKvp.first.size() );
-            }
-        }
-        return expandedTestSpec;
-    }
-
-    void TagAliasRegistry::add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) {
-        CATCH_ENFORCE( startsWith(alias, "[@") && endsWith(alias, ']'),
-                      "error: tag alias, '" << alias << "' is not of the form [@alias name].\n" << lineInfo );
-
-        CATCH_ENFORCE( m_registry.insert(std::make_pair(alias, TagAlias(tag, lineInfo))).second,
-                      "error: tag alias, '" << alias << "' already registered.\n"
-                      << "\tFirst seen at: " << find(alias)->lineInfo << "\n"
-                      << "\tRedefined at: " << lineInfo );
-    }
-
-    ITagAliasRegistry::~ITagAliasRegistry() {}
-
-    ITagAliasRegistry const& ITagAliasRegistry::get() {
-        return getRegistryHub().getTagAliasRegistry();
-    }
-
-} // end namespace Catch
-// end catch_tag_alias_registry.cpp
-// start catch_test_case_info.cpp
-
-#include <cctype>
-#include <exception>
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace {
-        TestCaseInfo::SpecialProperties parseSpecialTag( std::string const& tag ) {
-            if( startsWith( tag, '.' ) ||
-                tag == "!hide" )
-                return TestCaseInfo::IsHidden;
-            else if( tag == "!throws" )
-                return TestCaseInfo::Throws;
-            else if( tag == "!shouldfail" )
-                return TestCaseInfo::ShouldFail;
-            else if( tag == "!mayfail" )
-                return TestCaseInfo::MayFail;
-            else if( tag == "!nonportable" )
-                return TestCaseInfo::NonPortable;
-            else if( tag == "!benchmark" )
-                return static_cast<TestCaseInfo::SpecialProperties>( TestCaseInfo::Benchmark | TestCaseInfo::IsHidden );
-            else
-                return TestCaseInfo::None;
-        }
-        bool isReservedTag( std::string const& tag ) {
-            return parseSpecialTag( tag ) == TestCaseInfo::None && tag.size() > 0 && !std::isalnum( static_cast<unsigned char>(tag[0]) );
-        }
-        void enforceNotReservedTag( std::string const& tag, SourceLineInfo const& _lineInfo ) {
-            CATCH_ENFORCE( !isReservedTag(tag),
-                          "Tag name: [" << tag << "] is not allowed.\n"
-                          << "Tag names starting with non alpha-numeric characters are reserved\n"
-                          << _lineInfo );
-        }
-    }
-
-    TestCase makeTestCase(  ITestInvoker* _testCase,
-                            std::string const& _className,
-                            NameAndTags const& nameAndTags,
-                            SourceLineInfo const& _lineInfo )
-    {
-        bool isHidden = false;
-
-        // Parse out tags
-        std::vector<std::string> tags;
-        std::string desc, tag;
-        bool inTag = false;
-        std::string _descOrTags = nameAndTags.tags;
-        for (char c : _descOrTags) {
-            if( !inTag ) {
-                if( c == '[' )
-                    inTag = true;
-                else
-                    desc += c;
-            }
-            else {
-                if( c == ']' ) {
-                    TestCaseInfo::SpecialProperties prop = parseSpecialTag( tag );
-                    if( ( prop & TestCaseInfo::IsHidden ) != 0 )
-                        isHidden = true;
-                    else if( prop == TestCaseInfo::None )
-                        enforceNotReservedTag( tag, _lineInfo );
-
-                    tags.push_back( tag );
-                    tag.clear();
-                    inTag = false;
-                }
-                else
-                    tag += c;
-            }
-        }
-        if( isHidden ) {
-            tags.push_back( "." );
-        }
-
-        TestCaseInfo info( nameAndTags.name, _className, desc, tags, _lineInfo );
-        return TestCase( _testCase, std::move(info) );
-    }
-
-    void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags ) {
-        std::sort(begin(tags), end(tags));
-        tags.erase(std::unique(begin(tags), end(tags)), end(tags));
-        testCaseInfo.lcaseTags.clear();
-
-        for( auto const& tag : tags ) {
-            std::string lcaseTag = toLower( tag );
-            testCaseInfo.properties = static_cast<TestCaseInfo::SpecialProperties>( testCaseInfo.properties | parseSpecialTag( lcaseTag ) );
-            testCaseInfo.lcaseTags.push_back( lcaseTag );
-        }
-        testCaseInfo.tags = std::move(tags);
-    }
-
-    TestCaseInfo::TestCaseInfo( std::string const& _name,
-                                std::string const& _className,
-                                std::string const& _description,
-                                std::vector<std::string> const& _tags,
-                                SourceLineInfo const& _lineInfo )
-    :   name( _name ),
-        className( _className ),
-        description( _description ),
-        lineInfo( _lineInfo ),
-        properties( None )
-    {
-        setTags( *this, _tags );
-    }
-
-    bool TestCaseInfo::isHidden() const {
-        return ( properties & IsHidden ) != 0;
-    }
-    bool TestCaseInfo::throws() const {
-        return ( properties & Throws ) != 0;
-    }
-    bool TestCaseInfo::okToFail() const {
-        return ( properties & (ShouldFail | MayFail ) ) != 0;
-    }
-    bool TestCaseInfo::expectedToFail() const {
-        return ( properties & (ShouldFail ) ) != 0;
-    }
-
-    std::string TestCaseInfo::tagsAsString() const {
-        std::string ret;
-        // '[' and ']' per tag
-        std::size_t full_size = 2 * tags.size();
-        for (const auto& tag : tags) {
-            full_size += tag.size();
-        }
-        ret.reserve(full_size);
-        for (const auto& tag : tags) {
-            ret.push_back('[');
-            ret.append(tag);
-            ret.push_back(']');
-        }
-
-        return ret;
-    }
-
-    TestCase::TestCase( ITestInvoker* testCase, TestCaseInfo&& info ) : TestCaseInfo( std::move(info) ), test( testCase ) {}
-
-    TestCase TestCase::withName( std::string const& _newName ) const {
-        TestCase other( *this );
-        other.name = _newName;
-        return other;
-    }
-
-    void TestCase::invoke() const {
-        test->invoke();
-    }
-
-    bool TestCase::operator == ( TestCase const& other ) const {
-        return  test.get() == other.test.get() &&
-                name == other.name &&
-                className == other.className;
-    }
-
-    bool TestCase::operator < ( TestCase const& other ) const {
-        return name < other.name;
-    }
-
-    TestCaseInfo const& TestCase::getTestCaseInfo() const
-    {
-        return *this;
-    }
-
-} // end namespace Catch
-// end catch_test_case_info.cpp
-// start catch_test_case_registry_impl.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases ) {
-
-        std::vector<TestCase> sorted = unsortedTestCases;
-
-        switch( config.runOrder() ) {
-            case RunTests::InLexicographicalOrder:
-                std::sort( sorted.begin(), sorted.end() );
-                break;
-            case RunTests::InRandomOrder:
-                seedRng( config );
-                std::shuffle( sorted.begin(), sorted.end(), rng() );
-                break;
-            case RunTests::InDeclarationOrder:
-                // already in declaration order
-                break;
-        }
-        return sorted;
-    }
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ) {
-        return testSpec.matches( testCase ) && ( config.allowThrows() || !testCase.throws() );
-    }
-
-    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions ) {
-        std::set<TestCase> seenFunctions;
-        for( auto const& function : functions ) {
-            auto prev = seenFunctions.insert( function );
-            CATCH_ENFORCE( prev.second,
-                    "error: TEST_CASE( \"" << function.name << "\" ) already defined.\n"
-                    << "\tFirst seen at " << prev.first->getTestCaseInfo().lineInfo << "\n"
-                    << "\tRedefined at " << function.getTestCaseInfo().lineInfo );
-        }
-    }
-
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config ) {
-        std::vector<TestCase> filtered;
-        filtered.reserve( testCases.size() );
-        for( auto const& testCase : testCases )
-            if( matchTest( testCase, testSpec, config ) )
-                filtered.push_back( testCase );
-        return filtered;
-    }
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config ) {
-        return getRegistryHub().getTestCaseRegistry().getAllTestsSorted( config );
-    }
-
-    void TestRegistry::registerTest( TestCase const& testCase ) {
-        std::string name = testCase.getTestCaseInfo().name;
-        if( name.empty() ) {
-            ReusableStringStream rss;
-            rss << "Anonymous test case " << ++m_unnamedCount;
-            return registerTest( testCase.withName( rss.str() ) );
-        }
-        m_functions.push_back( testCase );
-    }
-
-    std::vector<TestCase> const& TestRegistry::getAllTests() const {
-        return m_functions;
-    }
-    std::vector<TestCase> const& TestRegistry::getAllTestsSorted( IConfig const& config ) const {
-        if( m_sortedFunctions.empty() )
-            enforceNoDuplicateTestCases( m_functions );
-
-        if(  m_currentSortOrder != config.runOrder() || m_sortedFunctions.empty() ) {
-            m_sortedFunctions = sortTests( config, m_functions );
-            m_currentSortOrder = config.runOrder();
-        }
-        return m_sortedFunctions;
-    }
-
-    ///////////////////////////////////////////////////////////////////////////
-    TestInvokerAsFunction::TestInvokerAsFunction( void(*testAsFunction)() ) noexcept : m_testAsFunction( testAsFunction ) {}
-
-    void TestInvokerAsFunction::invoke() const {
-        m_testAsFunction();
-    }
-
-    std::string extractClassName( StringRef const& classOrQualifiedMethodName ) {
-        std::string className = classOrQualifiedMethodName;
-        if( startsWith( className, '&' ) )
-        {
-            std::size_t lastColons = className.rfind( "::" );
-            std::size_t penultimateColons = className.rfind( "::", lastColons-1 );
-            if( penultimateColons == std::string::npos )
-                penultimateColons = 1;
-            className = className.substr( penultimateColons, lastColons-penultimateColons );
-        }
-        return className;
-    }
-
-} // end namespace Catch
-// end catch_test_case_registry_impl.cpp
-// start catch_test_case_tracker.cpp
-
-#include <algorithm>
-#include <cassert>
-#include <stdexcept>
-#include <memory>
-#include <sstream>
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-namespace Catch {
-namespace TestCaseTracking {
-
-    NameAndLocation::NameAndLocation( std::string const& _name, SourceLineInfo const& _location )
-    :   name( _name ),
-        location( _location )
-    {}
-
-    ITracker::~ITracker() = default;
-
-    TrackerContext& TrackerContext::instance() {
-        static TrackerContext s_instance;
-        return s_instance;
-    }
-
-    ITracker& TrackerContext::startRun() {
-        m_rootTracker = std::make_shared<SectionTracker>( NameAndLocation( "{root}", CATCH_INTERNAL_LINEINFO ), *this, nullptr );
-        m_currentTracker = nullptr;
-        m_runState = Executing;
-        return *m_rootTracker;
-    }
-
-    void TrackerContext::endRun() {
-        m_rootTracker.reset();
-        m_currentTracker = nullptr;
-        m_runState = NotStarted;
-    }
-
-    void TrackerContext::startCycle() {
-        m_currentTracker = m_rootTracker.get();
-        m_runState = Executing;
-    }
-    void TrackerContext::completeCycle() {
-        m_runState = CompletedCycle;
-    }
-
-    bool TrackerContext::completedCycle() const {
-        return m_runState == CompletedCycle;
-    }
-    ITracker& TrackerContext::currentTracker() {
-        return *m_currentTracker;
-    }
-    void TrackerContext::setCurrentTracker( ITracker* tracker ) {
-        m_currentTracker = tracker;
-    }
-
-    TrackerBase::TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-    :   m_nameAndLocation( nameAndLocation ),
-        m_ctx( ctx ),
-        m_parent( parent )
-    {}
-
-    NameAndLocation const& TrackerBase::nameAndLocation() const {
-        return m_nameAndLocation;
-    }
-    bool TrackerBase::isComplete() const {
-        return m_runState == CompletedSuccessfully || m_runState == Failed;
-    }
-    bool TrackerBase::isSuccessfullyCompleted() const {
-        return m_runState == CompletedSuccessfully;
-    }
-    bool TrackerBase::isOpen() const {
-        return m_runState != NotStarted && !isComplete();
-    }
-    bool TrackerBase::hasChildren() const {
-        return !m_children.empty();
-    }
-
-    void TrackerBase::addChild( ITrackerPtr const& child ) {
-        m_children.push_back( child );
-    }
-
-    ITrackerPtr TrackerBase::findChild( NameAndLocation const& nameAndLocation ) {
-        auto it = std::find_if( m_children.begin(), m_children.end(),
-            [&nameAndLocation]( ITrackerPtr const& tracker ){
-                return
-                    tracker->nameAndLocation().location == nameAndLocation.location &&
-                    tracker->nameAndLocation().name == nameAndLocation.name;
-            } );
-        return( it != m_children.end() )
-            ? *it
-            : nullptr;
-    }
-    ITracker& TrackerBase::parent() {
-        assert( m_parent ); // Should always be non-null except for root
-        return *m_parent;
-    }
-
-    void TrackerBase::openChild() {
-        if( m_runState != ExecutingChildren ) {
-            m_runState = ExecutingChildren;
-            if( m_parent )
-                m_parent->openChild();
-        }
-    }
-
-    bool TrackerBase::isSectionTracker() const { return false; }
-    bool TrackerBase::isIndexTracker() const { return false; }
-
-    void TrackerBase::open() {
-        m_runState = Executing;
-        moveToThis();
-        if( m_parent )
-            m_parent->openChild();
-    }
-
-    void TrackerBase::close() {
-
-        // Close any still open children (e.g. generators)
-        while( &m_ctx.currentTracker() != this )
-            m_ctx.currentTracker().close();
-
-        switch( m_runState ) {
-            case NeedsAnotherRun:
-                break;
-
-            case Executing:
-                m_runState = CompletedSuccessfully;
-                break;
-            case ExecutingChildren:
-                if( m_children.empty() || m_children.back()->isComplete() )
-                    m_runState = CompletedSuccessfully;
-                break;
-
-            case NotStarted:
-            case CompletedSuccessfully:
-            case Failed:
-                CATCH_INTERNAL_ERROR( "Illogical state: " << m_runState );
-
-            default:
-                CATCH_INTERNAL_ERROR( "Unknown state: " << m_runState );
-        }
-        moveToParent();
-        m_ctx.completeCycle();
-    }
-    void TrackerBase::fail() {
-        m_runState = Failed;
-        if( m_parent )
-            m_parent->markAsNeedingAnotherRun();
-        moveToParent();
-        m_ctx.completeCycle();
-    }
-    void TrackerBase::markAsNeedingAnotherRun() {
-        m_runState = NeedsAnotherRun;
-    }
-
-    void TrackerBase::moveToParent() {
-        assert( m_parent );
-        m_ctx.setCurrentTracker( m_parent );
-    }
-    void TrackerBase::moveToThis() {
-        m_ctx.setCurrentTracker( this );
-    }
-
-    SectionTracker::SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-    :   TrackerBase( nameAndLocation, ctx, parent )
-    {
-        if( parent ) {
-            while( !parent->isSectionTracker() )
-                parent = &parent->parent();
-
-            SectionTracker& parentSection = static_cast<SectionTracker&>( *parent );
-            addNextFilters( parentSection.m_filters );
-        }
-    }
-
-    bool SectionTracker::isSectionTracker() const { return true; }
-
-    SectionTracker& SectionTracker::acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation ) {
-        std::shared_ptr<SectionTracker> section;
-
-        ITracker& currentTracker = ctx.currentTracker();
-        if( ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-            assert( childTracker );
-            assert( childTracker->isSectionTracker() );
-            section = std::static_pointer_cast<SectionTracker>( childTracker );
-        }
-        else {
-            section = std::make_shared<SectionTracker>( nameAndLocation, ctx, &currentTracker );
-            currentTracker.addChild( section );
-        }
-        if( !ctx.completedCycle() )
-            section->tryOpen();
-        return *section;
-    }
-
-    void SectionTracker::tryOpen() {
-        if( !isComplete() && (m_filters.empty() || m_filters[0].empty() ||  m_filters[0] == m_nameAndLocation.name ) )
-            open();
-    }
-
-    void SectionTracker::addInitialFilters( std::vector<std::string> const& filters ) {
-        if( !filters.empty() ) {
-            m_filters.push_back(""); // Root - should never be consulted
-            m_filters.push_back(""); // Test Case - not a section filter
-            m_filters.insert( m_filters.end(), filters.begin(), filters.end() );
-        }
-    }
-    void SectionTracker::addNextFilters( std::vector<std::string> const& filters ) {
-        if( filters.size() > 1 )
-            m_filters.insert( m_filters.end(), ++filters.begin(), filters.end() );
-    }
-
-    IndexTracker::IndexTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent, int size )
-    :   TrackerBase( nameAndLocation, ctx, parent ),
-        m_size( size )
-    {}
-
-    bool IndexTracker::isIndexTracker() const { return true; }
-
-    IndexTracker& IndexTracker::acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation, int size ) {
-        std::shared_ptr<IndexTracker> tracker;
-
-        ITracker& currentTracker = ctx.currentTracker();
-        if( ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-            assert( childTracker );
-            assert( childTracker->isIndexTracker() );
-            tracker = std::static_pointer_cast<IndexTracker>( childTracker );
-        }
-        else {
-            tracker = std::make_shared<IndexTracker>( nameAndLocation, ctx, &currentTracker, size );
-            currentTracker.addChild( tracker );
-        }
-
-        if( !ctx.completedCycle() && !tracker->isComplete() ) {
-            if( tracker->m_runState != ExecutingChildren && tracker->m_runState != NeedsAnotherRun )
-                tracker->moveNext();
-            tracker->open();
-        }
-
-        return *tracker;
-    }
-
-    int IndexTracker::index() const { return m_index; }
-
-    void IndexTracker::moveNext() {
-        m_index++;
-        m_children.clear();
-    }
-
-    void IndexTracker::close() {
-        TrackerBase::close();
-        if( m_runState == CompletedSuccessfully && m_index < m_size-1 )
-            m_runState = Executing;
-    }
-
-} // namespace TestCaseTracking
-
-using TestCaseTracking::ITracker;
-using TestCaseTracking::TrackerContext;
-using TestCaseTracking::SectionTracker;
-using TestCaseTracking::IndexTracker;
-
-} // namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-// end catch_test_case_tracker.cpp
-// start catch_test_registry.cpp
-
-namespace Catch {
-
-    auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker* {
-        return new(std::nothrow) TestInvokerAsFunction( testAsFunction );
-    }
-
-    NameAndTags::NameAndTags( StringRef const& name_ , StringRef const& tags_ ) noexcept : name( name_ ), tags( tags_ ) {}
-
-    AutoReg::AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept {
-        CATCH_TRY {
-            getMutableRegistryHub()
-                    .registerTest(
-                        makeTestCase(
-                            invoker,
-                            extractClassName( classOrMethod ),
-                            nameAndTags,
-                            lineInfo));
-        } CATCH_CATCH_ALL {
-            // Do not throw when constructing global objects, instead register the exception to be processed later
-            getMutableRegistryHub().registerStartupException();
-        }
-    }
-
-    AutoReg::~AutoReg() = default;
-}
-// end catch_test_registry.cpp
-// start catch_test_spec.cpp
-
-#include <algorithm>
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    TestSpec::Pattern::~Pattern() = default;
-    TestSpec::NamePattern::~NamePattern() = default;
-    TestSpec::TagPattern::~TagPattern() = default;
-    TestSpec::ExcludedPattern::~ExcludedPattern() = default;
-
-    TestSpec::NamePattern::NamePattern( std::string const& name )
-    : m_wildcardPattern( toLower( name ), CaseSensitive::No )
-    {}
-    bool TestSpec::NamePattern::matches( TestCaseInfo const& testCase ) const {
-        return m_wildcardPattern.matches( toLower( testCase.name ) );
-    }
-
-    TestSpec::TagPattern::TagPattern( std::string const& tag ) : m_tag( toLower( tag ) ) {}
-    bool TestSpec::TagPattern::matches( TestCaseInfo const& testCase ) const {
-        return std::find(begin(testCase.lcaseTags),
-                         end(testCase.lcaseTags),
-                         m_tag) != end(testCase.lcaseTags);
-    }
-
-    TestSpec::ExcludedPattern::ExcludedPattern( PatternPtr const& underlyingPattern ) : m_underlyingPattern( underlyingPattern ) {}
-    bool TestSpec::ExcludedPattern::matches( TestCaseInfo const& testCase ) const { return !m_underlyingPattern->matches( testCase ); }
-
-    bool TestSpec::Filter::matches( TestCaseInfo const& testCase ) const {
-        // All patterns in a filter must match for the filter to be a match
-        for( auto const& pattern : m_patterns ) {
-            if( !pattern->matches( testCase ) )
-                return false;
-        }
-        return true;
-    }
-
-    bool TestSpec::hasFilters() const {
-        return !m_filters.empty();
-    }
-    bool TestSpec::matches( TestCaseInfo const& testCase ) const {
-        // A TestSpec matches if any filter matches
-        for( auto const& filter : m_filters )
-            if( filter.matches( testCase ) )
-                return true;
-        return false;
-    }
-}
-// end catch_test_spec.cpp
-// start catch_test_spec_parser.cpp
-
-namespace Catch {
-
-    TestSpecParser::TestSpecParser( ITagAliasRegistry const& tagAliases ) : m_tagAliases( &tagAliases ) {}
-
-    TestSpecParser& TestSpecParser::parse( std::string const& arg ) {
-        m_mode = None;
-        m_exclusion = false;
-        m_start = std::string::npos;
-        m_arg = m_tagAliases->expandAliases( arg );
-        m_escapeChars.clear();
-        for( m_pos = 0; m_pos < m_arg.size(); ++m_pos )
-            visitChar( m_arg[m_pos] );
-        if( m_mode == Name )
-            addPattern<TestSpec::NamePattern>();
-        return *this;
-    }
-    TestSpec TestSpecParser::testSpec() {
-        addFilter();
-        return m_testSpec;
-    }
-
-    void TestSpecParser::visitChar( char c ) {
-        if( m_mode == None ) {
-            switch( c ) {
-            case ' ': return;
-            case '~': m_exclusion = true; return;
-            case '[': return startNewMode( Tag, ++m_pos );
-            case '"': return startNewMode( QuotedName, ++m_pos );
-            case '\\': return escape();
-            default: startNewMode( Name, m_pos ); break;
-            }
-        }
-        if( m_mode == Name ) {
-            if( c == ',' ) {
-                addPattern<TestSpec::NamePattern>();
-                addFilter();
-            }
-            else if( c == '[' ) {
-                if( subString() == "exclude:" )
-                    m_exclusion = true;
-                else
-                    addPattern<TestSpec::NamePattern>();
-                startNewMode( Tag, ++m_pos );
-            }
-            else if( c == '\\' )
-                escape();
-        }
-        else if( m_mode == EscapedName )
-            m_mode = Name;
-        else if( m_mode == QuotedName && c == '"' )
-            addPattern<TestSpec::NamePattern>();
-        else if( m_mode == Tag && c == ']' )
-            addPattern<TestSpec::TagPattern>();
-    }
-    void TestSpecParser::startNewMode( Mode mode, std::size_t start ) {
-        m_mode = mode;
-        m_start = start;
-    }
-    void TestSpecParser::escape() {
-        if( m_mode == None )
-            m_start = m_pos;
-        m_mode = EscapedName;
-        m_escapeChars.push_back( m_pos );
-    }
-    std::string TestSpecParser::subString() const { return m_arg.substr( m_start, m_pos - m_start ); }
-
-    void TestSpecParser::addFilter() {
-        if( !m_currentFilter.m_patterns.empty() ) {
-            m_testSpec.m_filters.push_back( m_currentFilter );
-            m_currentFilter = TestSpec::Filter();
-        }
-    }
-
-    TestSpec parseTestSpec( std::string const& arg ) {
-        return TestSpecParser( ITagAliasRegistry::get() ).parse( arg ).testSpec();
-    }
-
-} // namespace Catch
-// end catch_test_spec_parser.cpp
-// start catch_timer.cpp
-
-#include <chrono>
-
-static const uint64_t nanosecondsInSecond = 1000000000;
-
-namespace Catch {
-
-    auto getCurrentNanosecondsSinceEpoch() -> uint64_t {
-        return std::chrono::duration_cast<std::chrono::nanoseconds>( std::chrono::high_resolution_clock::now().time_since_epoch() ).count();
-    }
-
-    namespace {
-        auto estimateClockResolution() -> uint64_t {
-            uint64_t sum = 0;
-            static const uint64_t iterations = 1000000;
-
-            auto startTime = getCurrentNanosecondsSinceEpoch();
-
-            for( std::size_t i = 0; i < iterations; ++i ) {
-
-                uint64_t ticks;
-                uint64_t baseTicks = getCurrentNanosecondsSinceEpoch();
-                do {
-                    ticks = getCurrentNanosecondsSinceEpoch();
-                } while( ticks == baseTicks );
-
-                auto delta = ticks - baseTicks;
-                sum += delta;
-
-                // If we have been calibrating for over 3 seconds -- the clock
-                // is terrible and we should move on.
-                // TBD: How to signal that the measured resolution is probably wrong?
-                if (ticks > startTime + 3 * nanosecondsInSecond) {
-                    return sum / i;
-                }
-            }
-
-            // We're just taking the mean, here. To do better we could take the std. dev and exclude outliers
-            // - and potentially do more iterations if there's a high variance.
-            return sum/iterations;
-        }
-    }
-    auto getEstimatedClockResolution() -> uint64_t {
-        static auto s_resolution = estimateClockResolution();
-        return s_resolution;
-    }
-
-    void Timer::start() {
-       m_nanoseconds = getCurrentNanosecondsSinceEpoch();
-    }
-    auto Timer::getElapsedNanoseconds() const -> uint64_t {
-        return getCurrentNanosecondsSinceEpoch() - m_nanoseconds;
-    }
-    auto Timer::getElapsedMicroseconds() const -> uint64_t {
-        return getElapsedNanoseconds()/1000;
-    }
-    auto Timer::getElapsedMilliseconds() const -> unsigned int {
-        return static_cast<unsigned int>(getElapsedMicroseconds()/1000);
-    }
-    auto Timer::getElapsedSeconds() const -> double {
-        return getElapsedMicroseconds()/1000000.0;
-    }
-
-} // namespace Catch
-// end catch_timer.cpp
-// start catch_tostring.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#    pragma clang diagnostic ignored "-Wglobal-constructors"
-#endif
-
-// Enable specific decls locally
-#if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#endif
-
-#include <cmath>
-#include <iomanip>
-
-namespace Catch {
-
-namespace Detail {
-
-    const std::string unprintableString = "{?}";
-
-    namespace {
-        const int hexThreshold = 255;
-
-        struct Endianness {
-            enum Arch { Big, Little };
-
-            static Arch which() {
-                union _{
-                    int asInt;
-                    char asChar[sizeof (int)];
-                } u;
-
-                u.asInt = 1;
-                return ( u.asChar[sizeof(int)-1] == 1 ) ? Big : Little;
-            }
-        };
-    }
-
-    std::string rawMemoryToString( const void *object, std::size_t size ) {
-        // Reverse order for little endian architectures
-        int i = 0, end = static_cast<int>( size ), inc = 1;
-        if( Endianness::which() == Endianness::Little ) {
-            i = end-1;
-            end = inc = -1;
-        }
-
-        unsigned char const *bytes = static_cast<unsigned char const *>(object);
-        ReusableStringStream rss;
-        rss << "0x" << std::setfill('0') << std::hex;
-        for( ; i != end; i += inc )
-             rss << std::setw(2) << static_cast<unsigned>(bytes[i]);
-       return rss.str();
-    }
-}
-
-template<typename T>
-std::string fpToString( T value, int precision ) {
-    if (Catch::isnan(value)) {
-        return "nan";
-    }
-
-    ReusableStringStream rss;
-    rss << std::setprecision( precision )
-        << std::fixed
-        << value;
-    std::string d = rss.str();
-    std::size_t i = d.find_last_not_of( '0' );
-    if( i != std::string::npos && i != d.size()-1 ) {
-        if( d[i] == '.' )
-            i++;
-        d = d.substr( 0, i+1 );
-    }
-    return d;
-}
-
-//// ======================================================= ////
-//
-//   Out-of-line defs for full specialization of StringMaker
-//
-//// ======================================================= ////
-
-std::string StringMaker<std::string>::convert(const std::string& str) {
-    if (!getCurrentContext().getConfig()->showInvisibles()) {
-        return '"' + str + '"';
-    }
-
-    std::string s("\"");
-    for (char c : str) {
-        switch (c) {
-        case '\n':
-            s.append("\\n");
-            break;
-        case '\t':
-            s.append("\\t");
-            break;
-        default:
-            s.push_back(c);
-            break;
-        }
-    }
-    s.append("\"");
-    return s;
-}
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-std::string StringMaker<std::string_view>::convert(std::string_view str) {
-    return ::Catch::Detail::stringify(std::string{ str });
-}
-#endif
-
-std::string StringMaker<char const*>::convert(char const* str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::string{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-std::string StringMaker<char*>::convert(char* str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::string{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-
-#ifdef CATCH_CONFIG_WCHAR
-std::string StringMaker<std::wstring>::convert(const std::wstring& wstr) {
-    std::string s;
-    s.reserve(wstr.size());
-    for (auto c : wstr) {
-        s += (c <= 0xff) ? static_cast<char>(c) : '?';
-    }
-    return ::Catch::Detail::stringify(s);
-}
-
-# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-std::string StringMaker<std::wstring_view>::convert(std::wstring_view str) {
-    return StringMaker<std::wstring>::convert(std::wstring(str));
-}
-# endif
-
-std::string StringMaker<wchar_t const*>::convert(wchar_t const * str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::wstring{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-std::string StringMaker<wchar_t *>::convert(wchar_t * str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::wstring{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-#endif
-
-std::string StringMaker<int>::convert(int value) {
-    return ::Catch::Detail::stringify(static_cast<long long>(value));
-}
-std::string StringMaker<long>::convert(long value) {
-    return ::Catch::Detail::stringify(static_cast<long long>(value));
-}
-std::string StringMaker<long long>::convert(long long value) {
-    ReusableStringStream rss;
-    rss << value;
-    if (value > Detail::hexThreshold) {
-        rss << " (0x" << std::hex << value << ')';
-    }
-    return rss.str();
-}
-
-std::string StringMaker<unsigned int>::convert(unsigned int value) {
-    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
-}
-std::string StringMaker<unsigned long>::convert(unsigned long value) {
-    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
-}
-std::string StringMaker<unsigned long long>::convert(unsigned long long value) {
-    ReusableStringStream rss;
-    rss << value;
-    if (value > Detail::hexThreshold) {
-        rss << " (0x" << std::hex << value << ')';
-    }
-    return rss.str();
-}
-
-std::string StringMaker<bool>::convert(bool b) {
-    return b ? "true" : "false";
-}
-
-std::string StringMaker<signed char>::convert(signed char value) {
-    if (value == '\r') {
-        return "'\\r'";
-    } else if (value == '\f') {
-        return "'\\f'";
-    } else if (value == '\n') {
-        return "'\\n'";
-    } else if (value == '\t') {
-        return "'\\t'";
-    } else if ('\0' <= value && value < ' ') {
-        return ::Catch::Detail::stringify(static_cast<unsigned int>(value));
-    } else {
-        char chstr[] = "' '";
-        chstr[1] = value;
-        return chstr;
-    }
-}
-std::string StringMaker<char>::convert(char c) {
-    return ::Catch::Detail::stringify(static_cast<signed char>(c));
-}
-std::string StringMaker<unsigned char>::convert(unsigned char c) {
-    return ::Catch::Detail::stringify(static_cast<char>(c));
-}
-
-std::string StringMaker<std::nullptr_t>::convert(std::nullptr_t) {
-    return "nullptr";
-}
-
-std::string StringMaker<float>::convert(float value) {
-    return fpToString(value, 5) + 'f';
-}
-std::string StringMaker<double>::convert(double value) {
-    return fpToString(value, 10);
-}
-
-std::string ratio_string<std::atto>::symbol() { return "a"; }
-std::string ratio_string<std::femto>::symbol() { return "f"; }
-std::string ratio_string<std::pico>::symbol() { return "p"; }
-std::string ratio_string<std::nano>::symbol() { return "n"; }
-std::string ratio_string<std::micro>::symbol() { return "u"; }
-std::string ratio_string<std::milli>::symbol() { return "m"; }
-
-} // end namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-
-// end catch_tostring.cpp
-// start catch_totals.cpp
-
-namespace Catch {
-
-    Counts Counts::operator - ( Counts const& other ) const {
-        Counts diff;
-        diff.passed = passed - other.passed;
-        diff.failed = failed - other.failed;
-        diff.failedButOk = failedButOk - other.failedButOk;
-        return diff;
-    }
-
-    Counts& Counts::operator += ( Counts const& other ) {
-        passed += other.passed;
-        failed += other.failed;
-        failedButOk += other.failedButOk;
-        return *this;
-    }
-
-    std::size_t Counts::total() const {
-        return passed + failed + failedButOk;
-    }
-    bool Counts::allPassed() const {
-        return failed == 0 && failedButOk == 0;
-    }
-    bool Counts::allOk() const {
-        return failed == 0;
-    }
-
-    Totals Totals::operator - ( Totals const& other ) const {
-        Totals diff;
-        diff.assertions = assertions - other.assertions;
-        diff.testCases = testCases - other.testCases;
-        return diff;
-    }
-
-    Totals& Totals::operator += ( Totals const& other ) {
-        assertions += other.assertions;
-        testCases += other.testCases;
-        return *this;
-    }
-
-    Totals Totals::delta( Totals const& prevTotals ) const {
-        Totals diff = *this - prevTotals;
-        if( diff.assertions.failed > 0 )
-            ++diff.testCases.failed;
-        else if( diff.assertions.failedButOk > 0 )
-            ++diff.testCases.failedButOk;
-        else
-            ++diff.testCases.passed;
-        return diff;
-    }
-
-}
-// end catch_totals.cpp
-// start catch_uncaught_exceptions.cpp
-
-#include <exception>
-
-namespace Catch {
-    bool uncaught_exceptions() {
-#if defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-        return std::uncaught_exceptions() > 0;
-#else
-        return std::uncaught_exception();
-#endif
-  }
-} // end namespace Catch
-// end catch_uncaught_exceptions.cpp
-// start catch_version.cpp
-
-#include <ostream>
-
-namespace Catch {
-
-    Version::Version
-        (   unsigned int _majorVersion,
-            unsigned int _minorVersion,
-            unsigned int _patchNumber,
-            char const * const _branchName,
-            unsigned int _buildNumber )
-    :   majorVersion( _majorVersion ),
-        minorVersion( _minorVersion ),
-        patchNumber( _patchNumber ),
-        branchName( _branchName ),
-        buildNumber( _buildNumber )
-    {}
-
-    std::ostream& operator << ( std::ostream& os, Version const& version ) {
-        os  << version.majorVersion << '.'
-            << version.minorVersion << '.'
-            << version.patchNumber;
-        // branchName is never null -> 0th char is \0 if it is empty
-        if (version.branchName[0]) {
-            os << '-' << version.branchName
-               << '.' << version.buildNumber;
-        }
-        return os;
-    }
-
-    Version const& libraryVersion() {
-        static Version version( 2, 5, 0, "", 0 );
-        return version;
-    }
-
-}
-// end catch_version.cpp
-// start catch_wildcard_pattern.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    WildcardPattern::WildcardPattern( std::string const& pattern,
-                                      CaseSensitive::Choice caseSensitivity )
-    :   m_caseSensitivity( caseSensitivity ),
-        m_pattern( adjustCase( pattern ) )
-    {
-        if( startsWith( m_pattern, '*' ) ) {
-            m_pattern = m_pattern.substr( 1 );
-            m_wildcard = WildcardAtStart;
-        }
-        if( endsWith( m_pattern, '*' ) ) {
-            m_pattern = m_pattern.substr( 0, m_pattern.size()-1 );
-            m_wildcard = static_cast<WildcardPosition>( m_wildcard | WildcardAtEnd );
-        }
-    }
-
-    bool WildcardPattern::matches( std::string const& str ) const {
-        switch( m_wildcard ) {
-            case NoWildcard:
-                return m_pattern == adjustCase( str );
-            case WildcardAtStart:
-                return endsWith( adjustCase( str ), m_pattern );
-            case WildcardAtEnd:
-                return startsWith( adjustCase( str ), m_pattern );
-            case WildcardAtBothEnds:
-                return contains( adjustCase( str ), m_pattern );
-            default:
-                CATCH_INTERNAL_ERROR( "Unknown enum" );
-        }
-    }
-
-    std::string WildcardPattern::adjustCase( std::string const& str ) const {
-        return m_caseSensitivity == CaseSensitive::No ? toLower( str ) : str;
-    }
-}
-// end catch_wildcard_pattern.cpp
-// start catch_xmlwriter.cpp
-
-#include <iomanip>
-
-using uchar = unsigned char;
-
-namespace Catch {
-
-namespace {
-
-    size_t trailingBytes(unsigned char c) {
-        if ((c & 0xE0) == 0xC0) {
-            return 2;
-        }
-        if ((c & 0xF0) == 0xE0) {
-            return 3;
-        }
-        if ((c & 0xF8) == 0xF0) {
-            return 4;
-        }
-        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
-    }
-
-    uint32_t headerValue(unsigned char c) {
-        if ((c & 0xE0) == 0xC0) {
-            return c & 0x1F;
-        }
-        if ((c & 0xF0) == 0xE0) {
-            return c & 0x0F;
-        }
-        if ((c & 0xF8) == 0xF0) {
-            return c & 0x07;
-        }
-        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
-    }
-
-    void hexEscapeChar(std::ostream& os, unsigned char c) {
-        os << "\\x"
-            << std::uppercase << std::hex << std::setfill('0') << std::setw(2)
-            << static_cast<int>(c);
-    }
-
-} // anonymous namespace
-
-    XmlEncode::XmlEncode( std::string const& str, ForWhat forWhat )
-    :   m_str( str ),
-        m_forWhat( forWhat )
-    {}
-
-    void XmlEncode::encodeTo( std::ostream& os ) const {
-        // Apostrophe escaping not necessary if we always use " to write attributes
-        // (see: http://www.w3.org/TR/xml/#syntax)
-
-        for( std::size_t idx = 0; idx < m_str.size(); ++ idx ) {
-            uchar c = m_str[idx];
-            switch (c) {
-            case '<':   os << "&lt;"; break;
-            case '&':   os << "&amp;"; break;
-
-            case '>':
-                // See: http://www.w3.org/TR/xml/#syntax
-                if (idx > 2 && m_str[idx - 1] == ']' && m_str[idx - 2] == ']')
-                    os << "&gt;";
-                else
-                    os << c;
-                break;
-
-            case '\"':
-                if (m_forWhat == ForAttributes)
-                    os << "&quot;";
-                else
-                    os << c;
-                break;
-
-            default:
-                // Check for control characters and invalid utf-8
-
-                // Escape control characters in standard ascii
-                // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0
-                if (c < 0x09 || (c > 0x0D && c < 0x20) || c == 0x7F) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                // Plain ASCII: Write it to stream
-                if (c < 0x7F) {
-                    os << c;
-                    break;
-                }
-
-                // UTF-8 territory
-                // Check if the encoding is valid and if it is not, hex escape bytes.
-                // Important: We do not check the exact decoded values for validity, only the encoding format
-                // First check that this bytes is a valid lead byte:
-                // This means that it is not encoded as 1111 1XXX
-                // Or as 10XX XXXX
-                if (c <  0xC0 ||
-                    c >= 0xF8) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                auto encBytes = trailingBytes(c);
-                // Are there enough bytes left to avoid accessing out-of-bounds memory?
-                if (idx + encBytes - 1 >= m_str.size()) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-                // The header is valid, check data
-                // The next encBytes bytes must together be a valid utf-8
-                // This means: bitpattern 10XX XXXX and the extracted value is sane (ish)
-                bool valid = true;
-                uint32_t value = headerValue(c);
-                for (std::size_t n = 1; n < encBytes; ++n) {
-                    uchar nc = m_str[idx + n];
-                    valid &= ((nc & 0xC0) == 0x80);
-                    value = (value << 6) | (nc & 0x3F);
-                }
-
-                if (
-                    // Wrong bit pattern of following bytes
-                    (!valid) ||
-                    // Overlong encodings
-                    (value < 0x80) ||
-                    (0x80 <= value && value < 0x800   && encBytes > 2) ||
-                    (0x800 < value && value < 0x10000 && encBytes > 3) ||
-                    // Encoded value out of range
-                    (value >= 0x110000)
-                    ) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                // If we got here, this is in fact a valid(ish) utf-8 sequence
-                for (std::size_t n = 0; n < encBytes; ++n) {
-                    os << m_str[idx + n];
-                }
-                idx += encBytes - 1;
-                break;
-            }
-        }
-    }
-
-    std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode ) {
-        xmlEncode.encodeTo( os );
-        return os;
-    }
-
-    XmlWriter::ScopedElement::ScopedElement( XmlWriter* writer )
-    :   m_writer( writer )
-    {}
-
-    XmlWriter::ScopedElement::ScopedElement( ScopedElement&& other ) noexcept
-    :   m_writer( other.m_writer ){
-        other.m_writer = nullptr;
-    }
-    XmlWriter::ScopedElement& XmlWriter::ScopedElement::operator=( ScopedElement&& other ) noexcept {
-        if ( m_writer ) {
-            m_writer->endElement();
-        }
-        m_writer = other.m_writer;
-        other.m_writer = nullptr;
-        return *this;
-    }
-
-    XmlWriter::ScopedElement::~ScopedElement() {
-        if( m_writer )
-            m_writer->endElement();
-    }
-
-    XmlWriter::ScopedElement& XmlWriter::ScopedElement::writeText( std::string const& text, bool indent ) {
-        m_writer->writeText( text, indent );
-        return *this;
-    }
-
-    XmlWriter::XmlWriter( std::ostream& os ) : m_os( os )
-    {
-        writeDeclaration();
-    }
-
-    XmlWriter::~XmlWriter() {
-        while( !m_tags.empty() )
-            endElement();
-    }
-
-    XmlWriter& XmlWriter::startElement( std::string const& name ) {
-        ensureTagClosed();
-        newlineIfNecessary();
-        m_os << m_indent << '<' << name;
-        m_tags.push_back( name );
-        m_indent += "  ";
-        m_tagIsOpen = true;
-        return *this;
-    }
-
-    XmlWriter::ScopedElement XmlWriter::scopedElement( std::string const& name ) {
-        ScopedElement scoped( this );
-        startElement( name );
-        return scoped;
-    }
-
-    XmlWriter& XmlWriter::endElement() {
-        newlineIfNecessary();
-        m_indent = m_indent.substr( 0, m_indent.size()-2 );
-        if( m_tagIsOpen ) {
-            m_os << "/>";
-            m_tagIsOpen = false;
-        }
-        else {
-            m_os << m_indent << "</" << m_tags.back() << ">";
-        }
-        m_os << std::endl;
-        m_tags.pop_back();
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeAttribute( std::string const& name, std::string const& attribute ) {
-        if( !name.empty() && !attribute.empty() )
-            m_os << ' ' << name << "=\"" << XmlEncode( attribute, XmlEncode::ForAttributes ) << '"';
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeAttribute( std::string const& name, bool attribute ) {
-        m_os << ' ' << name << "=\"" << ( attribute ? "true" : "false" ) << '"';
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeText( std::string const& text, bool indent ) {
-        if( !text.empty() ){
-            bool tagWasOpen = m_tagIsOpen;
-            ensureTagClosed();
-            if( tagWasOpen && indent )
-                m_os << m_indent;
-            m_os << XmlEncode( text );
-            m_needsNewline = true;
-        }
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeComment( std::string const& text ) {
-        ensureTagClosed();
-        m_os << m_indent << "<!--" << text << "-->";
-        m_needsNewline = true;
-        return *this;
-    }
-
-    void XmlWriter::writeStylesheetRef( std::string const& url ) {
-        m_os << "<?xml-stylesheet type=\"text/xsl\" href=\"" << url << "\"?>\n";
-    }
-
-    XmlWriter& XmlWriter::writeBlankLine() {
-        ensureTagClosed();
-        m_os << '\n';
-        return *this;
-    }
-
-    void XmlWriter::ensureTagClosed() {
-        if( m_tagIsOpen ) {
-            m_os << ">" << std::endl;
-            m_tagIsOpen = false;
-        }
-    }
-
-    void XmlWriter::writeDeclaration() {
-        m_os << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
-    }
-
-    void XmlWriter::newlineIfNecessary() {
-        if( m_needsNewline ) {
-            m_os << std::endl;
-            m_needsNewline = false;
-        }
-    }
-}
-// end catch_xmlwriter.cpp
-// start catch_reporter_bases.cpp
-
-#include <cstring>
-#include <cfloat>
-#include <cstdio>
-#include <cassert>
-#include <memory>
-
-namespace Catch {
-    void prepareExpandedExpression(AssertionResult& result) {
-        result.getExpandedExpression();
-    }
-
-    // Because formatting using c++ streams is stateful, drop down to C is required
-    // Alternatively we could use stringstream, but its performance is... not good.
-    std::string getFormattedDuration( double duration ) {
-        // Max exponent + 1 is required to represent the whole part
-        // + 1 for decimal point
-        // + 3 for the 3 decimal places
-        // + 1 for null terminator
-        const std::size_t maxDoubleSize = DBL_MAX_10_EXP + 1 + 1 + 3 + 1;
-        char buffer[maxDoubleSize];
-
-        // Save previous errno, to prevent sprintf from overwriting it
-        ErrnoGuard guard;
-#ifdef _MSC_VER
-        sprintf_s(buffer, "%.3f", duration);
-#else
-        sprintf(buffer, "%.3f", duration);
-#endif
-        return std::string(buffer);
-    }
-
-    TestEventListenerBase::TestEventListenerBase(ReporterConfig const & _config)
-        :StreamingReporterBase(_config) {}
-
-    std::set<Verbosity> TestEventListenerBase::getSupportedVerbosities() {
-        return { Verbosity::Quiet, Verbosity::Normal, Verbosity::High };
-    }
-
-    void TestEventListenerBase::assertionStarting(AssertionInfo const &) {}
-
-    bool TestEventListenerBase::assertionEnded(AssertionStats const &) {
-        return false;
-    }
-
-} // end namespace Catch
-// end catch_reporter_bases.cpp
-// start catch_reporter_compact.cpp
-
-namespace {
-
-#ifdef CATCH_PLATFORM_MAC
-    const char* failedString() { return "FAILED"; }
-    const char* passedString() { return "PASSED"; }
-#else
-    const char* failedString() { return "failed"; }
-    const char* passedString() { return "passed"; }
-#endif
-
-    // Colour::LightGrey
-    Catch::Colour::Code dimColour() { return Catch::Colour::FileName; }
-
-    std::string bothOrAll( std::size_t count ) {
-        return count == 1 ? std::string() :
-               count == 2 ? "both " : "all " ;
-    }
-
-} // anon namespace
-
-namespace Catch {
-namespace {
-// Colour, message variants:
-// - white: No tests ran.
-// -   red: Failed [both/all] N test cases, failed [both/all] M assertions.
-// - white: Passed [both/all] N test cases (no assertions).
-// -   red: Failed N tests cases, failed M assertions.
-// - green: Passed [both/all] N tests cases with M assertions.
-void printTotals(std::ostream& out, const Totals& totals) {
-    if (totals.testCases.total() == 0) {
-        out << "No tests ran.";
-    } else if (totals.testCases.failed == totals.testCases.total()) {
-        Colour colour(Colour::ResultError);
-        const std::string qualify_assertions_failed =
-            totals.assertions.failed == totals.assertions.total() ?
-            bothOrAll(totals.assertions.failed) : std::string();
-        out <<
-            "Failed " << bothOrAll(totals.testCases.failed)
-            << pluralise(totals.testCases.failed, "test case") << ", "
-            "failed " << qualify_assertions_failed <<
-            pluralise(totals.assertions.failed, "assertion") << '.';
-    } else if (totals.assertions.total() == 0) {
-        out <<
-            "Passed " << bothOrAll(totals.testCases.total())
-            << pluralise(totals.testCases.total(), "test case")
-            << " (no assertions).";
-    } else if (totals.assertions.failed) {
-        Colour colour(Colour::ResultError);
-        out <<
-            "Failed " << pluralise(totals.testCases.failed, "test case") << ", "
-            "failed " << pluralise(totals.assertions.failed, "assertion") << '.';
-    } else {
-        Colour colour(Colour::ResultSuccess);
-        out <<
-            "Passed " << bothOrAll(totals.testCases.passed)
-            << pluralise(totals.testCases.passed, "test case") <<
-            " with " << pluralise(totals.assertions.passed, "assertion") << '.';
-    }
-}
-
-// Implementation of CompactReporter formatting
-class AssertionPrinter {
-public:
-    AssertionPrinter& operator= (AssertionPrinter const&) = delete;
-    AssertionPrinter(AssertionPrinter const&) = delete;
-    AssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
-        : stream(_stream)
-        , result(_stats.assertionResult)
-        , messages(_stats.infoMessages)
-        , itMessage(_stats.infoMessages.begin())
-        , printInfoMessages(_printInfoMessages) {}
-
-    void print() {
-        printSourceInfo();
-
-        itMessage = messages.begin();
-
-        switch (result.getResultType()) {
-        case ResultWas::Ok:
-            printResultType(Colour::ResultSuccess, passedString());
-            printOriginalExpression();
-            printReconstructedExpression();
-            if (!result.hasExpression())
-                printRemainingMessages(Colour::None);
-            else
-                printRemainingMessages();
-            break;
-        case ResultWas::ExpressionFailed:
-            if (result.isOk())
-                printResultType(Colour::ResultSuccess, failedString() + std::string(" - but was ok"));
-            else
-                printResultType(Colour::Error, failedString());
-            printOriginalExpression();
-            printReconstructedExpression();
-            printRemainingMessages();
-            break;
-        case ResultWas::ThrewException:
-            printResultType(Colour::Error, failedString());
-            printIssue("unexpected exception with message:");
-            printMessage();
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::FatalErrorCondition:
-            printResultType(Colour::Error, failedString());
-            printIssue("fatal error condition with message:");
-            printMessage();
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::DidntThrowException:
-            printResultType(Colour::Error, failedString());
-            printIssue("expected exception, got none");
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::Info:
-            printResultType(Colour::None, "info");
-            printMessage();
-            printRemainingMessages();
-            break;
-        case ResultWas::Warning:
-            printResultType(Colour::None, "warning");
-            printMessage();
-            printRemainingMessages();
-            break;
-        case ResultWas::ExplicitFailure:
-            printResultType(Colour::Error, failedString());
-            printIssue("explicitly");
-            printRemainingMessages(Colour::None);
-            break;
-            // These cases are here to prevent compiler warnings
-        case ResultWas::Unknown:
-        case ResultWas::FailureBit:
-        case ResultWas::Exception:
-            printResultType(Colour::Error, "** internal error **");
-            break;
-        }
-    }
-
-private:
-    void printSourceInfo() const {
-        Colour colourGuard(Colour::FileName);
-        stream << result.getSourceInfo() << ':';
-    }
-
-    void printResultType(Colour::Code colour, std::string const& passOrFail) const {
-        if (!passOrFail.empty()) {
-            {
-                Colour colourGuard(colour);
-                stream << ' ' << passOrFail;
-            }
-            stream << ':';
-        }
-    }
-
-    void printIssue(std::string const& issue) const {
-        stream << ' ' << issue;
-    }
-
-    void printExpressionWas() {
-        if (result.hasExpression()) {
-            stream << ';';
-            {
-                Colour colour(dimColour());
-                stream << " expression was:";
-            }
-            printOriginalExpression();
-        }
-    }
-
-    void printOriginalExpression() const {
-        if (result.hasExpression()) {
-            stream << ' ' << result.getExpression();
-        }
-    }
-
-    void printReconstructedExpression() const {
-        if (result.hasExpandedExpression()) {
-            {
-                Colour colour(dimColour());
-                stream << " for: ";
-            }
-            stream << result.getExpandedExpression();
-        }
-    }
-
-    void printMessage() {
-        if (itMessage != messages.end()) {
-            stream << " '" << itMessage->message << '\'';
-            ++itMessage;
-        }
-    }
-
-    void printRemainingMessages(Colour::Code colour = dimColour()) {
-        if (itMessage == messages.end())
-            return;
-
-        // using messages.end() directly yields (or auto) compilation error:
-        std::vector<MessageInfo>::const_iterator itEnd = messages.end();
-        const std::size_t N = static_cast<std::size_t>(std::distance(itMessage, itEnd));
-
-        {
-            Colour colourGuard(colour);
-            stream << " with " << pluralise(N, "message") << ':';
-        }
-
-        for (; itMessage != itEnd; ) {
-            // If this assertion is a warning ignore any INFO messages
-            if (printInfoMessages || itMessage->type != ResultWas::Info) {
-                stream << " '" << itMessage->message << '\'';
-                if (++itMessage != itEnd) {
-                    Colour colourGuard(dimColour());
-                    stream << " and";
-                }
-            }
-        }
-    }
-
-private:
-    std::ostream& stream;
-    AssertionResult const& result;
-    std::vector<MessageInfo> messages;
-    std::vector<MessageInfo>::const_iterator itMessage;
-    bool printInfoMessages;
-};
-
-} // anon namespace
-
-        std::string CompactReporter::getDescription() {
-            return "Reports test results on a single line, suitable for IDEs";
-        }
-
-        ReporterPreferences CompactReporter::getPreferences() const {
-            return m_reporterPrefs;
-        }
-
-        void CompactReporter::noMatchingTestCases( std::string const& spec ) {
-            stream << "No test cases matched '" << spec << '\'' << std::endl;
-        }
-
-        void CompactReporter::assertionStarting( AssertionInfo const& ) {}
-
-        bool CompactReporter::assertionEnded( AssertionStats const& _assertionStats ) {
-            AssertionResult const& result = _assertionStats.assertionResult;
-
-            bool printInfoMessages = true;
-
-            // Drop out if result was successful and we're not printing those
-            if( !m_config->includeSuccessfulResults() && result.isOk() ) {
-                if( result.getResultType() != ResultWas::Warning )
-                    return false;
-                printInfoMessages = false;
-            }
-
-            AssertionPrinter printer( stream, _assertionStats, printInfoMessages );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void CompactReporter::sectionEnded(SectionStats const& _sectionStats) {
-            if (m_config->showDurations() == ShowDurations::Always) {
-                stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl;
-            }
-        }
-
-        void CompactReporter::testRunEnded( TestRunStats const& _testRunStats ) {
-            printTotals( stream, _testRunStats.totals );
-            stream << '\n' << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-        CompactReporter::~CompactReporter() {}
-
-    CATCH_REGISTER_REPORTER( "compact", CompactReporter )
-
-} // end namespace Catch
-// end catch_reporter_compact.cpp
-// start catch_reporter_console.cpp
-
-#include <cfloat>
-#include <cstdio>
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
- // Note that 4062 (not all labels are handled
- // and default is missing) is enabled
-#endif
-
-namespace Catch {
-
-namespace {
-
-// Formatter impl for ConsoleReporter
-class ConsoleAssertionPrinter {
-public:
-    ConsoleAssertionPrinter& operator= (ConsoleAssertionPrinter const&) = delete;
-    ConsoleAssertionPrinter(ConsoleAssertionPrinter const&) = delete;
-    ConsoleAssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
-        : stream(_stream),
-        stats(_stats),
-        result(_stats.assertionResult),
-        colour(Colour::None),
-        message(result.getMessage()),
-        messages(_stats.infoMessages),
-        printInfoMessages(_printInfoMessages) {
-        switch (result.getResultType()) {
-        case ResultWas::Ok:
-            colour = Colour::Success;
-            passOrFail = "PASSED";
-            //if( result.hasMessage() )
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "with messages";
-            break;
-        case ResultWas::ExpressionFailed:
-            if (result.isOk()) {
-                colour = Colour::Success;
-                passOrFail = "FAILED - but was ok";
-            } else {
-                colour = Colour::Error;
-                passOrFail = "FAILED";
-            }
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "with messages";
-            break;
-        case ResultWas::ThrewException:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "due to unexpected exception with ";
-            if (_stats.infoMessages.size() == 1)
-                messageLabel += "message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel += "messages";
-            break;
-        case ResultWas::FatalErrorCondition:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "due to a fatal error condition";
-            break;
-        case ResultWas::DidntThrowException:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "because no exception was thrown where one was expected";
-            break;
-        case ResultWas::Info:
-            messageLabel = "info";
-            break;
-        case ResultWas::Warning:
-            messageLabel = "warning";
-            break;
-        case ResultWas::ExplicitFailure:
-            passOrFail = "FAILED";
-            colour = Colour::Error;
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "explicitly with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "explicitly with messages";
-            break;
-            // These cases are here to prevent compiler warnings
-        case ResultWas::Unknown:
-        case ResultWas::FailureBit:
-        case ResultWas::Exception:
-            passOrFail = "** internal error **";
-            colour = Colour::Error;
-            break;
-        }
-    }
-
-    void print() const {
-        printSourceInfo();
-        if (stats.totals.assertions.total() > 0) {
-            printResultType();
-            printOriginalExpression();
-            printReconstructedExpression();
-        } else {
-            stream << '\n';
-        }
-        printMessage();
-    }
-
-private:
-    void printResultType() const {
-        if (!passOrFail.empty()) {
-            Colour colourGuard(colour);
-            stream << passOrFail << ":\n";
-        }
-    }
-    void printOriginalExpression() const {
-        if (result.hasExpression()) {
-            Colour colourGuard(Colour::OriginalExpression);
-            stream << "  ";
-            stream << result.getExpressionInMacro();
-            stream << '\n';
-        }
-    }
-    void printReconstructedExpression() const {
-        if (result.hasExpandedExpression()) {
-            stream << "with expansion:\n";
-            Colour colourGuard(Colour::ReconstructedExpression);
-            stream << Column(result.getExpandedExpression()).indent(2) << '\n';
-        }
-    }
-    void printMessage() const {
-        if (!messageLabel.empty())
-            stream << messageLabel << ':' << '\n';
-        for (auto const& msg : messages) {
-            // If this assertion is a warning ignore any INFO messages
-            if (printInfoMessages || msg.type != ResultWas::Info)
-                stream << Column(msg.message).indent(2) << '\n';
-        }
-    }
-    void printSourceInfo() const {
-        Colour colourGuard(Colour::FileName);
-        stream << result.getSourceInfo() << ": ";
-    }
-
-    std::ostream& stream;
-    AssertionStats const& stats;
-    AssertionResult const& result;
-    Colour::Code colour;
-    std::string passOrFail;
-    std::string messageLabel;
-    std::string message;
-    std::vector<MessageInfo> messages;
-    bool printInfoMessages;
-};
-
-std::size_t makeRatio(std::size_t number, std::size_t total) {
-    std::size_t ratio = total > 0 ? CATCH_CONFIG_CONSOLE_WIDTH * number / total : 0;
-    return (ratio == 0 && number > 0) ? 1 : ratio;
-}
-
-std::size_t& findMax(std::size_t& i, std::size_t& j, std::size_t& k) {
-    if (i > j && i > k)
-        return i;
-    else if (j > k)
-        return j;
-    else
-        return k;
-}
-
-struct ColumnInfo {
-    enum Justification { Left, Right };
-    std::string name;
-    int width;
-    Justification justification;
-};
-struct ColumnBreak {};
-struct RowBreak {};
-
-class Duration {
-    enum class Unit {
-        Auto,
-        Nanoseconds,
-        Microseconds,
-        Milliseconds,
-        Seconds,
-        Minutes
-    };
-    static const uint64_t s_nanosecondsInAMicrosecond = 1000;
-    static const uint64_t s_nanosecondsInAMillisecond = 1000 * s_nanosecondsInAMicrosecond;
-    static const uint64_t s_nanosecondsInASecond = 1000 * s_nanosecondsInAMillisecond;
-    static const uint64_t s_nanosecondsInAMinute = 60 * s_nanosecondsInASecond;
-
-    uint64_t m_inNanoseconds;
-    Unit m_units;
-
-public:
-    explicit Duration(uint64_t inNanoseconds, Unit units = Unit::Auto)
-        : m_inNanoseconds(inNanoseconds),
-        m_units(units) {
-        if (m_units == Unit::Auto) {
-            if (m_inNanoseconds < s_nanosecondsInAMicrosecond)
-                m_units = Unit::Nanoseconds;
-            else if (m_inNanoseconds < s_nanosecondsInAMillisecond)
-                m_units = Unit::Microseconds;
-            else if (m_inNanoseconds < s_nanosecondsInASecond)
-                m_units = Unit::Milliseconds;
-            else if (m_inNanoseconds < s_nanosecondsInAMinute)
-                m_units = Unit::Seconds;
-            else
-                m_units = Unit::Minutes;
-        }
-
-    }
-
-    auto value() const -> double {
-        switch (m_units) {
-        case Unit::Microseconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMicrosecond);
-        case Unit::Milliseconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMillisecond);
-        case Unit::Seconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInASecond);
-        case Unit::Minutes:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMinute);
-        default:
-            return static_cast<double>(m_inNanoseconds);
-        }
-    }
-    auto unitsAsString() const -> std::string {
-        switch (m_units) {
-        case Unit::Nanoseconds:
-            return "ns";
-        case Unit::Microseconds:
-            return "µs";
-        case Unit::Milliseconds:
-            return "ms";
-        case Unit::Seconds:
-            return "s";
-        case Unit::Minutes:
-            return "m";
-        default:
-            return "** internal error **";
-        }
-
-    }
-    friend auto operator << (std::ostream& os, Duration const& duration) -> std::ostream& {
-        return os << duration.value() << " " << duration.unitsAsString();
-    }
-};
-} // end anon namespace
-
-class TablePrinter {
-    std::ostream& m_os;
-    std::vector<ColumnInfo> m_columnInfos;
-    std::ostringstream m_oss;
-    int m_currentColumn = -1;
-    bool m_isOpen = false;
-
-public:
-    TablePrinter( std::ostream& os, std::vector<ColumnInfo> columnInfos )
-    :   m_os( os ),
-        m_columnInfos( std::move( columnInfos ) ) {}
-
-    auto columnInfos() const -> std::vector<ColumnInfo> const& {
-        return m_columnInfos;
-    }
-
-    void open() {
-        if (!m_isOpen) {
-            m_isOpen = true;
-            *this << RowBreak();
-            for (auto const& info : m_columnInfos)
-                *this << info.name << ColumnBreak();
-            *this << RowBreak();
-            m_os << Catch::getLineOfChars<'-'>() << "\n";
-        }
-    }
-    void close() {
-        if (m_isOpen) {
-            *this << RowBreak();
-            m_os << std::endl;
-            m_isOpen = false;
-        }
-    }
-
-    template<typename T>
-    friend TablePrinter& operator << (TablePrinter& tp, T const& value) {
-        tp.m_oss << value;
-        return tp;
-    }
-
-    friend TablePrinter& operator << (TablePrinter& tp, ColumnBreak) {
-        auto colStr = tp.m_oss.str();
-        // This takes account of utf8 encodings
-        auto strSize = Catch::StringRef(colStr).numberOfCharacters();
-        tp.m_oss.str("");
-        tp.open();
-        if (tp.m_currentColumn == static_cast<int>(tp.m_columnInfos.size() - 1)) {
-            tp.m_currentColumn = -1;
-            tp.m_os << "\n";
-        }
-        tp.m_currentColumn++;
-
-        auto colInfo = tp.m_columnInfos[tp.m_currentColumn];
-        auto padding = (strSize + 2 < static_cast<std::size_t>(colInfo.width))
-            ? std::string(colInfo.width - (strSize + 2), ' ')
-            : std::string();
-        if (colInfo.justification == ColumnInfo::Left)
-            tp.m_os << colStr << padding << " ";
-        else
-            tp.m_os << padding << colStr << " ";
-        return tp;
-    }
-
-    friend TablePrinter& operator << (TablePrinter& tp, RowBreak) {
-        if (tp.m_currentColumn > 0) {
-            tp.m_os << "\n";
-            tp.m_currentColumn = -1;
-        }
-        return tp;
-    }
-};
-
-ConsoleReporter::ConsoleReporter(ReporterConfig const& config)
-    : StreamingReporterBase(config),
-    m_tablePrinter(new TablePrinter(config.stream(),
-    {
-        { "benchmark name", CATCH_CONFIG_CONSOLE_WIDTH - 32, ColumnInfo::Left },
-        { "iters", 8, ColumnInfo::Right },
-        { "elapsed ns", 14, ColumnInfo::Right },
-        { "average", 14, ColumnInfo::Right }
-    })) {}
-ConsoleReporter::~ConsoleReporter() = default;
-
-std::string ConsoleReporter::getDescription() {
-    return "Reports test results as plain lines of text";
-}
-
-void ConsoleReporter::noMatchingTestCases(std::string const& spec) {
-    stream << "No test cases matched '" << spec << '\'' << std::endl;
-}
-
-void ConsoleReporter::assertionStarting(AssertionInfo const&) {}
-
-bool ConsoleReporter::assertionEnded(AssertionStats const& _assertionStats) {
-    AssertionResult const& result = _assertionStats.assertionResult;
-
-    bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
-
-    // Drop out if result was successful but we're not printing them.
-    if (!includeResults && result.getResultType() != ResultWas::Warning)
-        return false;
-
-    lazyPrint();
-
-    ConsoleAssertionPrinter printer(stream, _assertionStats, includeResults);
-    printer.print();
-    stream << std::endl;
-    return true;
-}
-
-void ConsoleReporter::sectionStarting(SectionInfo const& _sectionInfo) {
-    m_headerPrinted = false;
-    StreamingReporterBase::sectionStarting(_sectionInfo);
-}
-void ConsoleReporter::sectionEnded(SectionStats const& _sectionStats) {
-    m_tablePrinter->close();
-    if (_sectionStats.missingAssertions) {
-        lazyPrint();
-        Colour colour(Colour::ResultError);
-        if (m_sectionStack.size() > 1)
-            stream << "\nNo assertions in section";
-        else
-            stream << "\nNo assertions in test case";
-        stream << " '" << _sectionStats.sectionInfo.name << "'\n" << std::endl;
-    }
-    if (m_config->showDurations() == ShowDurations::Always) {
-        stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl;
-    }
-    if (m_headerPrinted) {
-        m_headerPrinted = false;
-    }
-    StreamingReporterBase::sectionEnded(_sectionStats);
-}
-
-void ConsoleReporter::benchmarkStarting(BenchmarkInfo const& info) {
-    lazyPrintWithoutClosingBenchmarkTable();
-
-    auto nameCol = Column( info.name ).width( static_cast<std::size_t>( m_tablePrinter->columnInfos()[0].width - 2 ) );
-
-    bool firstLine = true;
-    for (auto line : nameCol) {
-        if (!firstLine)
-            (*m_tablePrinter) << ColumnBreak() << ColumnBreak() << ColumnBreak();
-        else
-            firstLine = false;
-
-        (*m_tablePrinter) << line << ColumnBreak();
-    }
-}
-void ConsoleReporter::benchmarkEnded(BenchmarkStats const& stats) {
-    Duration average(stats.elapsedTimeInNanoseconds / stats.iterations);
-    (*m_tablePrinter)
-        << stats.iterations << ColumnBreak()
-        << stats.elapsedTimeInNanoseconds << ColumnBreak()
-        << average << ColumnBreak();
-}
-
-void ConsoleReporter::testCaseEnded(TestCaseStats const& _testCaseStats) {
-    m_tablePrinter->close();
-    StreamingReporterBase::testCaseEnded(_testCaseStats);
-    m_headerPrinted = false;
-}
-void ConsoleReporter::testGroupEnded(TestGroupStats const& _testGroupStats) {
-    if (currentGroupInfo.used) {
-        printSummaryDivider();
-        stream << "Summary for group '" << _testGroupStats.groupInfo.name << "':\n";
-        printTotals(_testGroupStats.totals);
-        stream << '\n' << std::endl;
-    }
-    StreamingReporterBase::testGroupEnded(_testGroupStats);
-}
-void ConsoleReporter::testRunEnded(TestRunStats const& _testRunStats) {
-    printTotalsDivider(_testRunStats.totals);
-    printTotals(_testRunStats.totals);
-    stream << std::endl;
-    StreamingReporterBase::testRunEnded(_testRunStats);
-}
-
-void ConsoleReporter::lazyPrint() {
-
-    m_tablePrinter->close();
-    lazyPrintWithoutClosingBenchmarkTable();
-}
-
-void ConsoleReporter::lazyPrintWithoutClosingBenchmarkTable() {
-
-    if (!currentTestRunInfo.used)
-        lazyPrintRunInfo();
-    if (!currentGroupInfo.used)
-        lazyPrintGroupInfo();
-
-    if (!m_headerPrinted) {
-        printTestCaseAndSectionHeader();
-        m_headerPrinted = true;
-    }
-}
-void ConsoleReporter::lazyPrintRunInfo() {
-    stream << '\n' << getLineOfChars<'~'>() << '\n';
-    Colour colour(Colour::SecondaryText);
-    stream << currentTestRunInfo->name
-        << " is a Catch v" << libraryVersion() << " host application.\n"
-        << "Run with -? for options\n\n";
-
-    if (m_config->rngSeed() != 0)
-        stream << "Randomness seeded to: " << m_config->rngSeed() << "\n\n";
-
-    currentTestRunInfo.used = true;
-}
-void ConsoleReporter::lazyPrintGroupInfo() {
-    if (!currentGroupInfo->name.empty() && currentGroupInfo->groupsCounts > 1) {
-        printClosedHeader("Group: " + currentGroupInfo->name);
-        currentGroupInfo.used = true;
-    }
-}
-void ConsoleReporter::printTestCaseAndSectionHeader() {
-    assert(!m_sectionStack.empty());
-    printOpenHeader(currentTestCaseInfo->name);
-
-    if (m_sectionStack.size() > 1) {
-        Colour colourGuard(Colour::Headers);
-
-        auto
-            it = m_sectionStack.begin() + 1, // Skip first section (test case)
-            itEnd = m_sectionStack.end();
-        for (; it != itEnd; ++it)
-            printHeaderString(it->name, 2);
-    }
-
-    SourceLineInfo lineInfo = m_sectionStack.back().lineInfo;
-
-    if (!lineInfo.empty()) {
-        stream << getLineOfChars<'-'>() << '\n';
-        Colour colourGuard(Colour::FileName);
-        stream << lineInfo << '\n';
-    }
-    stream << getLineOfChars<'.'>() << '\n' << std::endl;
-}
-
-void ConsoleReporter::printClosedHeader(std::string const& _name) {
-    printOpenHeader(_name);
-    stream << getLineOfChars<'.'>() << '\n';
-}
-void ConsoleReporter::printOpenHeader(std::string const& _name) {
-    stream << getLineOfChars<'-'>() << '\n';
-    {
-        Colour colourGuard(Colour::Headers);
-        printHeaderString(_name);
-    }
-}
-
-// if string has a : in first line will set indent to follow it on
-// subsequent lines
-void ConsoleReporter::printHeaderString(std::string const& _string, std::size_t indent) {
-    std::size_t i = _string.find(": ");
-    if (i != std::string::npos)
-        i += 2;
-    else
-        i = 0;
-    stream << Column(_string).indent(indent + i).initialIndent(indent) << '\n';
-}
-
-struct SummaryColumn {
-
-    SummaryColumn( std::string _label, Colour::Code _colour )
-    :   label( std::move( _label ) ),
-        colour( _colour ) {}
-    SummaryColumn addRow( std::size_t count ) {
-        ReusableStringStream rss;
-        rss << count;
-        std::string row = rss.str();
-        for (auto& oldRow : rows) {
-            while (oldRow.size() < row.size())
-                oldRow = ' ' + oldRow;
-            while (oldRow.size() > row.size())
-                row = ' ' + row;
-        }
-        rows.push_back(row);
-        return *this;
-    }
-
-    std::string label;
-    Colour::Code colour;
-    std::vector<std::string> rows;
-
-};
-
-void ConsoleReporter::printTotals( Totals const& totals ) {
-    if (totals.testCases.total() == 0) {
-        stream << Colour(Colour::Warning) << "No tests ran\n";
-    } else if (totals.assertions.total() > 0 && totals.testCases.allPassed()) {
-        stream << Colour(Colour::ResultSuccess) << "All tests passed";
-        stream << " ("
-            << pluralise(totals.assertions.passed, "assertion") << " in "
-            << pluralise(totals.testCases.passed, "test case") << ')'
-            << '\n';
-    } else {
-
-        std::vector<SummaryColumn> columns;
-        columns.push_back(SummaryColumn("", Colour::None)
-                          .addRow(totals.testCases.total())
-                          .addRow(totals.assertions.total()));
-        columns.push_back(SummaryColumn("passed", Colour::Success)
-                          .addRow(totals.testCases.passed)
-                          .addRow(totals.assertions.passed));
-        columns.push_back(SummaryColumn("failed", Colour::ResultError)
-                          .addRow(totals.testCases.failed)
-                          .addRow(totals.assertions.failed));
-        columns.push_back(SummaryColumn("failed as expected", Colour::ResultExpectedFailure)
-                          .addRow(totals.testCases.failedButOk)
-                          .addRow(totals.assertions.failedButOk));
-
-        printSummaryRow("test cases", columns, 0);
-        printSummaryRow("assertions", columns, 1);
-    }
-}
-void ConsoleReporter::printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row) {
-    for (auto col : cols) {
-        std::string value = col.rows[row];
-        if (col.label.empty()) {
-            stream << label << ": ";
-            if (value != "0")
-                stream << value;
-            else
-                stream << Colour(Colour::Warning) << "- none -";
-        } else if (value != "0") {
-            stream << Colour(Colour::LightGrey) << " | ";
-            stream << Colour(col.colour)
-                << value << ' ' << col.label;
-        }
-    }
-    stream << '\n';
-}
-
-void ConsoleReporter::printTotalsDivider(Totals const& totals) {
-    if (totals.testCases.total() > 0) {
-        std::size_t failedRatio = makeRatio(totals.testCases.failed, totals.testCases.total());
-        std::size_t failedButOkRatio = makeRatio(totals.testCases.failedButOk, totals.testCases.total());
-        std::size_t passedRatio = makeRatio(totals.testCases.passed, totals.testCases.total());
-        while (failedRatio + failedButOkRatio + passedRatio < CATCH_CONFIG_CONSOLE_WIDTH - 1)
-            findMax(failedRatio, failedButOkRatio, passedRatio)++;
-        while (failedRatio + failedButOkRatio + passedRatio > CATCH_CONFIG_CONSOLE_WIDTH - 1)
-            findMax(failedRatio, failedButOkRatio, passedRatio)--;
-
-        stream << Colour(Colour::Error) << std::string(failedRatio, '=');
-        stream << Colour(Colour::ResultExpectedFailure) << std::string(failedButOkRatio, '=');
-        if (totals.testCases.allPassed())
-            stream << Colour(Colour::ResultSuccess) << std::string(passedRatio, '=');
-        else
-            stream << Colour(Colour::Success) << std::string(passedRatio, '=');
-    } else {
-        stream << Colour(Colour::Warning) << std::string(CATCH_CONFIG_CONSOLE_WIDTH - 1, '=');
-    }
-    stream << '\n';
-}
-void ConsoleReporter::printSummaryDivider() {
-    stream << getLineOfChars<'-'>() << '\n';
-}
-
-CATCH_REGISTER_REPORTER("console", ConsoleReporter)
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-// end catch_reporter_console.cpp
-// start catch_reporter_junit.cpp
-
-#include <cassert>
-#include <sstream>
-#include <ctime>
-#include <algorithm>
-
-namespace Catch {
-
-    namespace {
-        std::string getCurrentTimestamp() {
-            // Beware, this is not reentrant because of backward compatibility issues
-            // Also, UTC only, again because of backward compatibility (%z is C++11)
-            time_t rawtime;
-            std::time(&rawtime);
-            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
-
-#ifdef _MSC_VER
-            std::tm timeInfo = {};
-            gmtime_s(&timeInfo, &rawtime);
-#else
-            std::tm* timeInfo;
-            timeInfo = std::gmtime(&rawtime);
-#endif
-
-            char timeStamp[timeStampSize];
-            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
-
-#ifdef _MSC_VER
-            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
-#else
-            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
-#endif
-            return std::string(timeStamp);
-        }
-
-        std::string fileNameTag(const std::vector<std::string> &tags) {
-            auto it = std::find_if(begin(tags),
-                                   end(tags),
-                                   [] (std::string const& tag) {return tag.front() == '#'; });
-            if (it != tags.end())
-                return it->substr(1);
-            return std::string();
-        }
-    } // anonymous namespace
-
-    JunitReporter::JunitReporter( ReporterConfig const& _config )
-        :   CumulativeReporterBase( _config ),
-            xml( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-    JunitReporter::~JunitReporter() {}
-
-    std::string JunitReporter::getDescription() {
-        return "Reports test results in an XML format that looks like Ant's junitreport target";
-    }
-
-    void JunitReporter::noMatchingTestCases( std::string const& /*spec*/ ) {}
-
-    void JunitReporter::testRunStarting( TestRunInfo const& runInfo )  {
-        CumulativeReporterBase::testRunStarting( runInfo );
-        xml.startElement( "testsuites" );
-    }
-
-    void JunitReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        suiteTimer.start();
-        stdOutForSuite.clear();
-        stdErrForSuite.clear();
-        unexpectedExceptions = 0;
-        CumulativeReporterBase::testGroupStarting( groupInfo );
-    }
-
-    void JunitReporter::testCaseStarting( TestCaseInfo const& testCaseInfo ) {
-        m_okToFail = testCaseInfo.okToFail();
-    }
-
-    bool JunitReporter::assertionEnded( AssertionStats const& assertionStats ) {
-        if( assertionStats.assertionResult.getResultType() == ResultWas::ThrewException && !m_okToFail )
-            unexpectedExceptions++;
-        return CumulativeReporterBase::assertionEnded( assertionStats );
-    }
-
-    void JunitReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        stdOutForSuite += testCaseStats.stdOut;
-        stdErrForSuite += testCaseStats.stdErr;
-        CumulativeReporterBase::testCaseEnded( testCaseStats );
-    }
-
-    void JunitReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        double suiteTime = suiteTimer.getElapsedSeconds();
-        CumulativeReporterBase::testGroupEnded( testGroupStats );
-        writeGroup( *m_testGroups.back(), suiteTime );
-    }
-
-    void JunitReporter::testRunEndedCumulative() {
-        xml.endElement();
-    }
-
-    void JunitReporter::writeGroup( TestGroupNode const& groupNode, double suiteTime ) {
-        XmlWriter::ScopedElement e = xml.scopedElement( "testsuite" );
-        TestGroupStats const& stats = groupNode.value;
-        xml.writeAttribute( "name", stats.groupInfo.name );
-        xml.writeAttribute( "errors", unexpectedExceptions );
-        xml.writeAttribute( "failures", stats.totals.assertions.failed-unexpectedExceptions );
-        xml.writeAttribute( "tests", stats.totals.assertions.total() );
-        xml.writeAttribute( "hostname", "tbd" ); // !TBD
-        if( m_config->showDurations() == ShowDurations::Never )
-            xml.writeAttribute( "time", "" );
-        else
-            xml.writeAttribute( "time", suiteTime );
-        xml.writeAttribute( "timestamp", getCurrentTimestamp() );
-
-        // Write test cases
-        for( auto const& child : groupNode.children )
-            writeTestCase( *child );
-
-        xml.scopedElement( "system-out" ).writeText( trim( stdOutForSuite ), false );
-        xml.scopedElement( "system-err" ).writeText( trim( stdErrForSuite ), false );
-    }
-
-    void JunitReporter::writeTestCase( TestCaseNode const& testCaseNode ) {
-        TestCaseStats const& stats = testCaseNode.value;
-
-        // All test cases have exactly one section - which represents the
-        // test case itself. That section may have 0-n nested sections
-        assert( testCaseNode.children.size() == 1 );
-        SectionNode const& rootSection = *testCaseNode.children.front();
-
-        std::string className = stats.testInfo.className;
-
-        if( className.empty() ) {
-            className = fileNameTag(stats.testInfo.tags);
-            if ( className.empty() )
-                className = "global";
-        }
-
-        if ( !m_config->name().empty() )
-            className = m_config->name() + "." + className;
-
-        writeSection( className, "", rootSection );
-    }
-
-    void JunitReporter::writeSection(  std::string const& className,
-                        std::string const& rootName,
-                        SectionNode const& sectionNode ) {
-        std::string name = trim( sectionNode.stats.sectionInfo.name );
-        if( !rootName.empty() )
-            name = rootName + '/' + name;
-
-        if( !sectionNode.assertions.empty() ||
-            !sectionNode.stdOut.empty() ||
-            !sectionNode.stdErr.empty() ) {
-            XmlWriter::ScopedElement e = xml.scopedElement( "testcase" );
-            if( className.empty() ) {
-                xml.writeAttribute( "classname", name );
-                xml.writeAttribute( "name", "root" );
-            }
-            else {
-                xml.writeAttribute( "classname", className );
-                xml.writeAttribute( "name", name );
-            }
-            xml.writeAttribute( "time", ::Catch::Detail::stringify( sectionNode.stats.durationInSeconds ) );
-
-            writeAssertions( sectionNode );
-
-            if( !sectionNode.stdOut.empty() )
-                xml.scopedElement( "system-out" ).writeText( trim( sectionNode.stdOut ), false );
-            if( !sectionNode.stdErr.empty() )
-                xml.scopedElement( "system-err" ).writeText( trim( sectionNode.stdErr ), false );
-        }
-        for( auto const& childNode : sectionNode.childSections )
-            if( className.empty() )
-                writeSection( name, "", *childNode );
-            else
-                writeSection( className, name, *childNode );
-    }
-
-    void JunitReporter::writeAssertions( SectionNode const& sectionNode ) {
-        for( auto const& assertion : sectionNode.assertions )
-            writeAssertion( assertion );
-    }
-
-    void JunitReporter::writeAssertion( AssertionStats const& stats ) {
-        AssertionResult const& result = stats.assertionResult;
-        if( !result.isOk() ) {
-            std::string elementName;
-            switch( result.getResultType() ) {
-                case ResultWas::ThrewException:
-                case ResultWas::FatalErrorCondition:
-                    elementName = "error";
-                    break;
-                case ResultWas::ExplicitFailure:
-                    elementName = "failure";
-                    break;
-                case ResultWas::ExpressionFailed:
-                    elementName = "failure";
-                    break;
-                case ResultWas::DidntThrowException:
-                    elementName = "failure";
-                    break;
-
-                // We should never see these here:
-                case ResultWas::Info:
-                case ResultWas::Warning:
-                case ResultWas::Ok:
-                case ResultWas::Unknown:
-                case ResultWas::FailureBit:
-                case ResultWas::Exception:
-                    elementName = "internalError";
-                    break;
-            }
-
-            XmlWriter::ScopedElement e = xml.scopedElement( elementName );
-
-            xml.writeAttribute( "message", result.getExpandedExpression() );
-            xml.writeAttribute( "type", result.getTestMacroName() );
-
-            ReusableStringStream rss;
-            if( !result.getMessage().empty() )
-                rss << result.getMessage() << '\n';
-            for( auto const& msg : stats.infoMessages )
-                if( msg.type == ResultWas::Info )
-                    rss << msg.message << '\n';
-
-            rss << "at " << result.getSourceInfo();
-            xml.writeText( rss.str(), false );
-        }
-    }
-
-    CATCH_REGISTER_REPORTER( "junit", JunitReporter )
-
-} // end namespace Catch
-// end catch_reporter_junit.cpp
-// start catch_reporter_listening.cpp
-
-#include <cassert>
-
-namespace Catch {
-
-    ListeningReporter::ListeningReporter() {
-        // We will assume that listeners will always want all assertions
-        m_preferences.shouldReportAllAssertions = true;
-    }
-
-    void ListeningReporter::addListener( IStreamingReporterPtr&& listener ) {
-        m_listeners.push_back( std::move( listener ) );
-    }
-
-    void ListeningReporter::addReporter(IStreamingReporterPtr&& reporter) {
-        assert(!m_reporter && "Listening reporter can wrap only 1 real reporter");
-        m_reporter = std::move( reporter );
-        m_preferences.shouldRedirectStdOut = m_reporter->getPreferences().shouldRedirectStdOut;
-    }
-
-    ReporterPreferences ListeningReporter::getPreferences() const {
-        return m_preferences;
-    }
-
-    std::set<Verbosity> ListeningReporter::getSupportedVerbosities() {
-        return std::set<Verbosity>{ };
-    }
-
-    void ListeningReporter::noMatchingTestCases( std::string const& spec ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->noMatchingTestCases( spec );
-        }
-        m_reporter->noMatchingTestCases( spec );
-    }
-
-    void ListeningReporter::benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->benchmarkStarting( benchmarkInfo );
-        }
-        m_reporter->benchmarkStarting( benchmarkInfo );
-    }
-    void ListeningReporter::benchmarkEnded( BenchmarkStats const& benchmarkStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->benchmarkEnded( benchmarkStats );
-        }
-        m_reporter->benchmarkEnded( benchmarkStats );
-    }
-
-    void ListeningReporter::testRunStarting( TestRunInfo const& testRunInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testRunStarting( testRunInfo );
-        }
-        m_reporter->testRunStarting( testRunInfo );
-    }
-
-    void ListeningReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testGroupStarting( groupInfo );
-        }
-        m_reporter->testGroupStarting( groupInfo );
-    }
-
-    void ListeningReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testCaseStarting( testInfo );
-        }
-        m_reporter->testCaseStarting( testInfo );
-    }
-
-    void ListeningReporter::sectionStarting( SectionInfo const& sectionInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->sectionStarting( sectionInfo );
-        }
-        m_reporter->sectionStarting( sectionInfo );
-    }
-
-    void ListeningReporter::assertionStarting( AssertionInfo const& assertionInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->assertionStarting( assertionInfo );
-        }
-        m_reporter->assertionStarting( assertionInfo );
-    }
-
-    // The return value indicates if the messages buffer should be cleared:
-    bool ListeningReporter::assertionEnded( AssertionStats const& assertionStats ) {
-        for( auto const& listener : m_listeners ) {
-            static_cast<void>( listener->assertionEnded( assertionStats ) );
-        }
-        return m_reporter->assertionEnded( assertionStats );
-    }
-
-    void ListeningReporter::sectionEnded( SectionStats const& sectionStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->sectionEnded( sectionStats );
-        }
-        m_reporter->sectionEnded( sectionStats );
-    }
-
-    void ListeningReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testCaseEnded( testCaseStats );
-        }
-        m_reporter->testCaseEnded( testCaseStats );
-    }
-
-    void ListeningReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testGroupEnded( testGroupStats );
-        }
-        m_reporter->testGroupEnded( testGroupStats );
-    }
-
-    void ListeningReporter::testRunEnded( TestRunStats const& testRunStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testRunEnded( testRunStats );
-        }
-        m_reporter->testRunEnded( testRunStats );
-    }
-
-    void ListeningReporter::skipTest( TestCaseInfo const& testInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->skipTest( testInfo );
-        }
-        m_reporter->skipTest( testInfo );
-    }
-
-    bool ListeningReporter::isMulti() const {
-        return true;
-    }
-
-} // end namespace Catch
-// end catch_reporter_listening.cpp
-// start catch_reporter_xml.cpp
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
-                              // Note that 4062 (not all labels are handled
-                              // and default is missing) is enabled
-#endif
-
-namespace Catch {
-    XmlReporter::XmlReporter( ReporterConfig const& _config )
-    :   StreamingReporterBase( _config ),
-        m_xml(_config.stream())
-    {
-        m_reporterPrefs.shouldRedirectStdOut = true;
-        m_reporterPrefs.shouldReportAllAssertions = true;
-    }
-
-    XmlReporter::~XmlReporter() = default;
-
-    std::string XmlReporter::getDescription() {
-        return "Reports test results as an XML document";
-    }
-
-    std::string XmlReporter::getStylesheetRef() const {
-        return std::string();
-    }
-
-    void XmlReporter::writeSourceInfo( SourceLineInfo const& sourceInfo ) {
-        m_xml
-            .writeAttribute( "filename", sourceInfo.file )
-            .writeAttribute( "line", sourceInfo.line );
-    }
-
-    void XmlReporter::noMatchingTestCases( std::string const& s ) {
-        StreamingReporterBase::noMatchingTestCases( s );
-    }
-
-    void XmlReporter::testRunStarting( TestRunInfo const& testInfo ) {
-        StreamingReporterBase::testRunStarting( testInfo );
-        std::string stylesheetRef = getStylesheetRef();
-        if( !stylesheetRef.empty() )
-            m_xml.writeStylesheetRef( stylesheetRef );
-        m_xml.startElement( "Catch" );
-        if( !m_config->name().empty() )
-            m_xml.writeAttribute( "name", m_config->name() );
-        if( m_config->rngSeed() != 0 )
-            m_xml.scopedElement( "Randomness" )
-                .writeAttribute( "seed", m_config->rngSeed() );
-    }
-
-    void XmlReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        StreamingReporterBase::testGroupStarting( groupInfo );
-        m_xml.startElement( "Group" )
-            .writeAttribute( "name", groupInfo.name );
-    }
-
-    void XmlReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
-        StreamingReporterBase::testCaseStarting(testInfo);
-        m_xml.startElement( "TestCase" )
-            .writeAttribute( "name", trim( testInfo.name ) )
-            .writeAttribute( "description", testInfo.description )
-            .writeAttribute( "tags", testInfo.tagsAsString() );
-
-        writeSourceInfo( testInfo.lineInfo );
-
-        if ( m_config->showDurations() == ShowDurations::Always )
-            m_testCaseTimer.start();
-        m_xml.ensureTagClosed();
-    }
-
-    void XmlReporter::sectionStarting( SectionInfo const& sectionInfo ) {
-        StreamingReporterBase::sectionStarting( sectionInfo );
-        if( m_sectionDepth++ > 0 ) {
-            m_xml.startElement( "Section" )
-                .writeAttribute( "name", trim( sectionInfo.name ) );
-            writeSourceInfo( sectionInfo.lineInfo );
-            m_xml.ensureTagClosed();
-        }
-    }
-
-    void XmlReporter::assertionStarting( AssertionInfo const& ) { }
-
-    bool XmlReporter::assertionEnded( AssertionStats const& assertionStats ) {
-
-        AssertionResult const& result = assertionStats.assertionResult;
-
-        bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
-
-        if( includeResults || result.getResultType() == ResultWas::Warning ) {
-            // Print any info messages in <Info> tags.
-            for( auto const& msg : assertionStats.infoMessages ) {
-                if( msg.type == ResultWas::Info && includeResults ) {
-                    m_xml.scopedElement( "Info" )
-                            .writeText( msg.message );
-                } else if ( msg.type == ResultWas::Warning ) {
-                    m_xml.scopedElement( "Warning" )
-                            .writeText( msg.message );
-                }
-            }
-        }
-
-        // Drop out if result was successful but we're not printing them.
-        if( !includeResults && result.getResultType() != ResultWas::Warning )
-            return true;
-
-        // Print the expression if there is one.
-        if( result.hasExpression() ) {
-            m_xml.startElement( "Expression" )
-                .writeAttribute( "success", result.succeeded() )
-                .writeAttribute( "type", result.getTestMacroName() );
-
-            writeSourceInfo( result.getSourceInfo() );
-
-            m_xml.scopedElement( "Original" )
-                .writeText( result.getExpression() );
-            m_xml.scopedElement( "Expanded" )
-                .writeText( result.getExpandedExpression() );
-        }
-
-        // And... Print a result applicable to each result type.
-        switch( result.getResultType() ) {
-            case ResultWas::ThrewException:
-                m_xml.startElement( "Exception" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            case ResultWas::FatalErrorCondition:
-                m_xml.startElement( "FatalErrorCondition" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            case ResultWas::Info:
-                m_xml.scopedElement( "Info" )
-                    .writeText( result.getMessage() );
-                break;
-            case ResultWas::Warning:
-                // Warning will already have been written
-                break;
-            case ResultWas::ExplicitFailure:
-                m_xml.startElement( "Failure" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            default:
-                break;
-        }
-
-        if( result.hasExpression() )
-            m_xml.endElement();
-
-        return true;
-    }
-
-    void XmlReporter::sectionEnded( SectionStats const& sectionStats ) {
-        StreamingReporterBase::sectionEnded( sectionStats );
-        if( --m_sectionDepth > 0 ) {
-            XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResults" );
-            e.writeAttribute( "successes", sectionStats.assertions.passed );
-            e.writeAttribute( "failures", sectionStats.assertions.failed );
-            e.writeAttribute( "expectedFailures", sectionStats.assertions.failedButOk );
-
-            if ( m_config->showDurations() == ShowDurations::Always )
-                e.writeAttribute( "durationInSeconds", sectionStats.durationInSeconds );
-
-            m_xml.endElement();
-        }
-    }
-
-    void XmlReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        StreamingReporterBase::testCaseEnded( testCaseStats );
-        XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResult" );
-        e.writeAttribute( "success", testCaseStats.totals.assertions.allOk() );
-
-        if ( m_config->showDurations() == ShowDurations::Always )
-            e.writeAttribute( "durationInSeconds", m_testCaseTimer.getElapsedSeconds() );
-
-        if( !testCaseStats.stdOut.empty() )
-            m_xml.scopedElement( "StdOut" ).writeText( trim( testCaseStats.stdOut ), false );
-        if( !testCaseStats.stdErr.empty() )
-            m_xml.scopedElement( "StdErr" ).writeText( trim( testCaseStats.stdErr ), false );
-
-        m_xml.endElement();
-    }
-
-    void XmlReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        StreamingReporterBase::testGroupEnded( testGroupStats );
-        // TODO: Check testGroupStats.aborting and act accordingly.
-        m_xml.scopedElement( "OverallResults" )
-            .writeAttribute( "successes", testGroupStats.totals.assertions.passed )
-            .writeAttribute( "failures", testGroupStats.totals.assertions.failed )
-            .writeAttribute( "expectedFailures", testGroupStats.totals.assertions.failedButOk );
-        m_xml.endElement();
-    }
-
-    void XmlReporter::testRunEnded( TestRunStats const& testRunStats ) {
-        StreamingReporterBase::testRunEnded( testRunStats );
-        m_xml.scopedElement( "OverallResults" )
-            .writeAttribute( "successes", testRunStats.totals.assertions.passed )
-            .writeAttribute( "failures", testRunStats.totals.assertions.failed )
-            .writeAttribute( "expectedFailures", testRunStats.totals.assertions.failedButOk );
-        m_xml.endElement();
-    }
-
-    CATCH_REGISTER_REPORTER( "xml", XmlReporter )
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-// end catch_reporter_xml.cpp
-
-namespace Catch {
-    LeakDetector leakDetector;
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_impl.hpp
-#endif
-
-#ifdef CATCH_CONFIG_MAIN
-// start catch_default_main.hpp
-
-#ifndef __OBJC__
-
-#if defined(CATCH_CONFIG_WCHAR) && defined(WIN32) && defined(_UNICODE) && !defined(DO_NOT_USE_WMAIN)
-// Standard C/C++ Win32 Unicode wmain entry point
-extern "C" int wmain (int argc, wchar_t * argv[], wchar_t * []) {
-#else
-// Standard C/C++ main entry point
-int main (int argc, char * argv[]) {
-#endif
-
-    return Catch::Session().run( argc, argv );
-}
-
-#else // __OBJC__
-
-// Objective-C entry point
-int main (int argc, char * const argv[]) {
-#if !CATCH_ARC_ENABLED
-    NSAutoreleasePool * pool = [[NSAutoreleasePool alloc] init];
-#endif
-
-    Catch::registerTestMethods();
-    int result = Catch::Session().run( argc, (char**)argv );
-
-#if !CATCH_ARC_ENABLED
-    [pool drain];
-#endif
-
-    return result;
-}
-
-#endif // __OBJC__
-
-// end catch_default_main.hpp
-#endif
-
-#if !defined(CATCH_CONFIG_IMPL_ONLY)
-
-#ifdef CLARA_CONFIG_MAIN_NOT_DEFINED
-#  undef CLARA_CONFIG_MAIN
-#endif
-
-#if !defined(CATCH_CONFIG_DISABLE)
-//////
-// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
-#ifdef CATCH_CONFIG_PREFIX_ALL
-
-#define CATCH_REQUIRE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-
-#define CATCH_REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "CATCH_REQUIRE_THROWS", Catch::ResultDisposition::Normal, "", __VA_ARGS__ )
-#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
-#define CATCH_REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
-#endif// CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-
-#define CATCH_CHECK( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-#define CATCH_CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CATCH_CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CATCH_CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
-
-#define CATCH_CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CATCH_CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, "", __VA_ARGS__ )
-#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
-#define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
-
-#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( "CATCH_INFO", msg )
-#define CATCH_WARN( msg ) INTERNAL_CATCH_MSG( "CATCH_WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
-#define CATCH_CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CATCH_CAPTURE",__VA_ARGS__ )
-
-#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
-#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
-#define CATCH_REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
-#define CATCH_SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
-#define CATCH_DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
-#define CATCH_FAIL( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( "CATCH_SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#endif
-
-#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
-#define CATCH_STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__ ,      #__VA_ARGS__ );     CATCH_SUCCEED( #__VA_ARGS__ )
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); CATCH_SUCCEED( #__VA_ARGS__ )
-#else
-#define CATCH_STATIC_REQUIRE( ... )       CATCH_REQUIRE( __VA_ARGS__ )
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) CATCH_REQUIRE_FALSE( __VA_ARGS__ )
-#endif
-
-// "BDD-style" convenience wrappers
-#define CATCH_SCENARIO( ... ) CATCH_TEST_CASE( "Scenario: " __VA_ARGS__ )
-#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
-#define CATCH_GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
-#define CATCH_AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
-#define CATCH_WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
-#define CATCH_AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
-#define CATCH_THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
-#define CATCH_AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
-
-// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
-#else
-
-#define REQUIRE( ... ) INTERNAL_CATCH_TEST( "REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__  )
-#define REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-
-#define REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
-#define REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-
-#define CHECK( ... ) INTERNAL_CATCH_TEST( "CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-#define CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
-
-#define CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
-#define CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
-
-#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define INFO( msg ) INTERNAL_CATCH_INFO( "INFO", msg )
-#define WARN( msg ) INTERNAL_CATCH_MSG( "WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
-#define CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CAPTURE",__VA_ARGS__ )
-
-#define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
-#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
-#define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
-#define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
-#define DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
-#define FAIL( ... ) INTERNAL_CATCH_MSG( "FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define SUCCEED( ... ) INTERNAL_CATCH_MSG( "SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#endif
-
-#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
-#define STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__,  #__VA_ARGS__ ); SUCCEED( #__VA_ARGS__ )
-#define STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); SUCCEED( "!(" #__VA_ARGS__ ")" )
-#else
-#define STATIC_REQUIRE( ... )       REQUIRE( __VA_ARGS__ )
-#define STATIC_REQUIRE_FALSE( ... ) REQUIRE_FALSE( __VA_ARGS__ )
-#endif
-
-#endif
-
-#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature )
-
-// "BDD-style" convenience wrappers
-#define SCENARIO( ... ) TEST_CASE( "Scenario: " __VA_ARGS__ )
-#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
-
-#define GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
-#define AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
-#define WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
-#define AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
-#define THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
-#define AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
-
-using Catch::Detail::Approx;
-
-#else // CATCH_CONFIG_DISABLE
-
-//////
-// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
-#ifdef CATCH_CONFIG_PREFIX_ALL
-
-#define CATCH_REQUIRE( ... )        (void)(0)
-#define CATCH_REQUIRE_FALSE( ... )  (void)(0)
-
-#define CATCH_REQUIRE_THROWS( ... ) (void)(0)
-#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CATCH_REQUIRE_THROWS_WITH( expr, matcher )     (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif// CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_REQUIRE_NOTHROW( ... ) (void)(0)
-
-#define CATCH_CHECK( ... )         (void)(0)
-#define CATCH_CHECK_FALSE( ... )   (void)(0)
-#define CATCH_CHECKED_IF( ... )    if (__VA_ARGS__)
-#define CATCH_CHECKED_ELSE( ... )  if (!(__VA_ARGS__))
-#define CATCH_CHECK_NOFAIL( ... )  (void)(0)
-
-#define CATCH_CHECK_THROWS( ... )  (void)(0)
-#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CATCH_CHECK_THROWS_WITH( expr, matcher )     (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_CHECK_NOTHROW( ... ) (void)(0)
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THAT( arg, matcher )   (void)(0)
-
-#define CATCH_REQUIRE_THAT( arg, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define CATCH_INFO( msg )    (void)(0)
-#define CATCH_WARN( msg )    (void)(0)
-#define CATCH_CAPTURE( msg ) (void)(0)
-
-#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_METHOD_AS_TEST_CASE( method, ... )
-#define CATCH_REGISTER_TEST_CASE( Function, ... ) (void)(0)
-#define CATCH_SECTION( ... )
-#define CATCH_DYNAMIC_SECTION( ... )
-#define CATCH_FAIL( ... ) (void)(0)
-#define CATCH_FAIL_CHECK( ... ) (void)(0)
-#define CATCH_SUCCEED( ... ) (void)(0)
-
-#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), className )
-#else
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), className ) )
-#endif
-
-// "BDD-style" convenience wrappers
-#define CATCH_SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className )
-#define CATCH_GIVEN( desc )
-#define CATCH_AND_GIVEN( desc )
-#define CATCH_WHEN( desc )
-#define CATCH_AND_WHEN( desc )
-#define CATCH_THEN( desc )
-#define CATCH_AND_THEN( desc )
-
-#define CATCH_STATIC_REQUIRE( ... )       (void)(0)
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) (void)(0)
-
-// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
-#else
-
-#define REQUIRE( ... )       (void)(0)
-#define REQUIRE_FALSE( ... ) (void)(0)
-
-#define REQUIRE_THROWS( ... ) (void)(0)
-#define REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
-#define REQUIRE_THROWS_WITH( expr, matcher ) (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define REQUIRE_NOTHROW( ... ) (void)(0)
-
-#define CHECK( ... ) (void)(0)
-#define CHECK_FALSE( ... ) (void)(0)
-#define CHECKED_IF( ... ) if (__VA_ARGS__)
-#define CHECKED_ELSE( ... ) if (!(__VA_ARGS__))
-#define CHECK_NOFAIL( ... ) (void)(0)
-
-#define CHECK_THROWS( ... )  (void)(0)
-#define CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CHECK_THROWS_WITH( expr, matcher ) (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CHECK_NOTHROW( ... ) (void)(0)
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THAT( arg, matcher ) (void)(0)
-
-#define REQUIRE_THAT( arg, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define INFO( msg ) (void)(0)
-#define WARN( msg ) (void)(0)
-#define CAPTURE( msg ) (void)(0)
-
-#define TEST_CASE( ... )  INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define METHOD_AS_TEST_CASE( method, ... )
-#define REGISTER_TEST_CASE( Function, ... ) (void)(0)
-#define SECTION( ... )
-#define DYNAMIC_SECTION( ... )
-#define FAIL( ... ) (void)(0)
-#define FAIL_CHECK( ... ) (void)(0)
-#define SUCCEED( ... ) (void)(0)
-#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), className )
-#else
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) ) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), className ) )
-#endif
-
-#define STATIC_REQUIRE( ... )       (void)(0)
-#define STATIC_REQUIRE_FALSE( ... ) (void)(0)
-
-#endif
-
-#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
-
-// "BDD-style" convenience wrappers
-#define SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ) )
-#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className )
-
-#define GIVEN( desc )
-#define AND_GIVEN( desc )
-#define WHEN( desc )
-#define AND_WHEN( desc )
-#define THEN( desc )
-#define AND_THEN( desc )
-
-using Catch::Detail::Approx;
-
-#endif
-
-#endif // ! CATCH_CONFIG_IMPL_ONLY
-
-// start catch_reenable_warnings.h
-
-
-#ifdef __clang__
-#    ifdef __ICC // icpc defines the __clang__ macro
-#        pragma warning(pop)
-#    else
-#        pragma clang diagnostic pop
-#    endif
-#elif defined __GNUC__
-#    pragma GCC diagnostic pop
-#endif
-
-// end catch_reenable_warnings.h
-// end catch.hpp
-#endif // TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-
diff --git a/free_fleet/package.xml b/free_fleet/package.xml
index ee809ca8..ca8b59dd 100644
--- a/free_fleet/package.xml
+++ b/free_fleet/package.xml
@@ -1,18 +1,22 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>free_fleet</name>
-  <version>1.3.0</version>
-  <description>Free Fleet client and server library</description>
-  <maintainer email="morgan@openrobotics.org">Morgan Quigley</maintainer>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
-  <license>Apache 2.0</license>
-  <author email="morgan@openrobotics.org">Morgan Quigley</author>
-  <author email="aaron@openrobotics.org">Aaron Chong</author>
+  <version>2.0.0</version>
+  <description>A free fleet management library</description>
+  <maintainer email="aaronchong@intrinsic.ai">Aaron Chong</maintainer>
+  <license>Apache License 2.0</license>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
 
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
-  <depend>cyclonedds</depend>
   <export>
-    <build_type>cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>
diff --git a/free_fleet/resource/free_fleet b/free_fleet/resource/free_fleet
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet/setup.cfg b/free_fleet/setup.cfg
new file mode 100644
index 00000000..ff1658c0
--- /dev/null
+++ b/free_fleet/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/free_fleet
+[install]
+install_scripts=$base/lib/free_fleet
diff --git a/free_fleet/setup.py b/free_fleet/setup.py
new file mode 100644
index 00000000..366d031b
--- /dev/null
+++ b/free_fleet/setup.py
@@ -0,0 +1,24 @@
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'free_fleet'
+
+setup(
+    name=package_name,
+    version='2.0.0',
+    packages=find_packages(),
+    data_files=[
+        (
+            'share/ament_index/resource_index/packages',
+            ['resource/' + package_name],
+        ),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Aaron Chong',
+    maintainer_email='aaronchong@intrinsic.ai',
+    description='A free fleet management library',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+)
diff --git a/free_fleet/src/Client.cpp b/free_fleet/src/Client.cpp
deleted file mode 100644
index a9ab385e..00000000
--- a/free_fleet/src/Client.cpp
+++ /dev/null
@@ -1,109 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <dds/dds.h>
-
-#include <free_fleet/Client.hpp>
-
-#include "ClientImpl.hpp"
-
-#include "messages/FleetMessages.h"
-#include "dds_utils/DDSPublishHandler.hpp"
-#include "dds_utils/DDSSubscribeHandler.hpp"
-
-namespace free_fleet {
-
-Client::SharedPtr Client::make(const ClientConfig& _config)
-{
-  SharedPtr client = SharedPtr(new Client(_config));
-
-  dds_entity_t participant = dds_create_participant(
-      static_cast<dds_domainid_t>(_config.dds_domain), NULL, NULL);
-  if (participant < 0)
-  {
-    DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
-    return nullptr;
-  }
-
-  dds::DDSPublishHandler<FreeFleetData_RobotState>::SharedPtr state_pub(
-      new dds::DDSPublishHandler<FreeFleetData_RobotState>(
-          participant, &FreeFleetData_RobotState_desc,
-          _config.dds_state_topic));
-
-  dds::DDSSubscribeHandler<FreeFleetData_ModeRequest>::SharedPtr 
-      mode_request_sub(
-          new dds::DDSSubscribeHandler<FreeFleetData_ModeRequest>(
-              participant, &FreeFleetData_ModeRequest_desc,
-              _config.dds_mode_request_topic));
-
-  dds::DDSSubscribeHandler<FreeFleetData_PathRequest>::SharedPtr 
-      path_request_sub(
-          new dds::DDSSubscribeHandler<FreeFleetData_PathRequest>(
-              participant, &FreeFleetData_PathRequest_desc,
-              _config.dds_path_request_topic));
-
-  dds::DDSSubscribeHandler<FreeFleetData_DestinationRequest>::SharedPtr
-      destination_request_sub(
-          new dds::DDSSubscribeHandler<FreeFleetData_DestinationRequest>(
-              participant, &FreeFleetData_DestinationRequest_desc,
-              _config.dds_destination_request_topic));
-
-  if (!state_pub->is_ready() ||
-      !mode_request_sub->is_ready() ||
-      !path_request_sub->is_ready() ||
-      !destination_request_sub->is_ready())
-    return nullptr;
-
-  client->impl->start(ClientImpl::Fields{
-      std::move(participant),
-      std::move(state_pub),
-      std::move(mode_request_sub),
-      std::move(path_request_sub),
-      std::move(destination_request_sub)});
-  return client;
-}
-
-Client::Client(const ClientConfig& _config)
-{
-  impl.reset(new ClientImpl(_config));
-}
-
-Client::~Client()
-{}
-
-bool Client::send_robot_state(const messages::RobotState& _new_robot_state)
-{
-  return impl->send_robot_state(_new_robot_state);
-}
-
-bool Client::read_mode_request(messages::ModeRequest& _mode_request)
-{
-  return impl->read_mode_request(_mode_request);
-}
-
-bool Client::read_path_request(messages::PathRequest& _path_request)
-{
-  return impl->read_path_request(_path_request);
-}
-
-bool Client::read_destination_request(
-    messages::DestinationRequest& _destination_request)
-{
-  return impl->read_destination_request(_destination_request);
-}
-
-} // namespace free_fleet
diff --git a/free_fleet/src/ClientImpl.cpp b/free_fleet/src/ClientImpl.cpp
deleted file mode 100644
index 0d0a191c..00000000
--- a/free_fleet/src/ClientImpl.cpp
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "ClientImpl.hpp"
-#include "messages/message_utils.hpp"
-
-namespace free_fleet {
-
-Client::ClientImpl::ClientImpl(const ClientConfig& _config) :
-  client_config(_config)
-{}
-
-Client::ClientImpl::~ClientImpl()
-{
-  dds_return_t return_code = dds_delete(fields.participant);
-  if (return_code != DDS_RETCODE_OK)
-  {
-    DDS_FATAL("dds_delete: %s", dds_strretcode(-return_code));
-  }
-}
-
-void Client::ClientImpl::start(Fields _fields)
-{
-  fields = std::move(_fields);
-}
-
-bool Client::ClientImpl::send_robot_state(
-    const messages::RobotState& _new_robot_state)
-{
-  FreeFleetData_RobotState* new_rs = FreeFleetData_RobotState__alloc();
-  convert(_new_robot_state, *new_rs);
-  bool sent = fields.state_pub->write(new_rs);
-  FreeFleetData_RobotState_free(new_rs, DDS_FREE_ALL);
-  return sent;
-}
-
-bool Client::ClientImpl::read_mode_request
-    (messages::ModeRequest& _mode_request)
-{
-  auto mode_requests = fields.mode_request_sub->read();
-  if (!mode_requests.empty())
-  {
-    convert(*(mode_requests[0]), _mode_request);
-    return true;
-  }
-  return false;
-}
-
-bool Client::ClientImpl::read_path_request(
-    messages::PathRequest& _path_request)
-{
-  auto path_requests = fields.path_request_sub->read();
-  if (!path_requests.empty())
-  {
-    convert(*(path_requests[0]), _path_request);
-    return true;
-  }
-  return false;
-}
-
-bool Client::ClientImpl::read_destination_request(
-    messages::DestinationRequest& _destination_request)
-{
-  auto destination_requests = fields.destination_request_sub->read();
-  if (!destination_requests.empty())
-  {
-    convert(*(destination_requests[0]), _destination_request);
-    return true;
-  }
-  return false;
-}
-
-} // namespace free_fleet
diff --git a/free_fleet/src/ClientImpl.hpp b/free_fleet/src/ClientImpl.hpp
deleted file mode 100644
index 837ea2ee..00000000
--- a/free_fleet/src/ClientImpl.hpp
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__SRC__CLIENTIMPL_HPP
-#define FREE_FLEET__SRC__CLIENTIMPL_HPP
-
-#include <free_fleet/messages/RobotState.hpp>
-#include <free_fleet/messages/ModeRequest.hpp>
-#include <free_fleet/messages/PathRequest.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-#include <free_fleet/Client.hpp>
-#include <free_fleet/ClientConfig.hpp>
-
-#include <dds/dds.h>
-
-#include "messages/FleetMessages.h"
-#include "dds_utils/DDSPublishHandler.hpp"
-#include "dds_utils/DDSSubscribeHandler.hpp"
-
-namespace free_fleet {
-
-class Client::ClientImpl
-{
-public:
-
-  /// DDS related fields required for the client to operate
-  struct Fields
-  {
-    /// DDS participant that is tied to the configured dds_domain_id
-    dds_entity_t participant;
-
-    /// DDS publisher that handles sending out current robot states to the 
-    /// server
-    dds::DDSPublishHandler<FreeFleetData_RobotState>::SharedPtr
-        state_pub;
-
-    /// DDS subscriber for mode requests coming from the server
-    dds::DDSSubscribeHandler<FreeFleetData_ModeRequest>::SharedPtr 
-        mode_request_sub;
-
-    /// DDS subscriber for path requests coming from the server
-    dds::DDSSubscribeHandler<FreeFleetData_PathRequest>::SharedPtr 
-        path_request_sub;
-
-    /// DDS subscriber for destination requests coming from the server
-    dds::DDSSubscribeHandler<FreeFleetData_DestinationRequest>::SharedPtr
-        destination_request_sub;
-  };
-
-  ClientImpl(const ClientConfig& config);
-
-  ~ClientImpl();
-
-  void start(Fields fields);
-
-  bool send_robot_state(const messages::RobotState& new_robot_state);
-
-  bool read_mode_request(messages::ModeRequest& mode_request);
-
-  bool read_path_request(messages::PathRequest& path_request);
-
-  bool read_destination_request(
-      messages::DestinationRequest& destination_request);
-
-private:
-
-  Fields fields;
-
-  ClientConfig client_config;
-
-};
-
-} // namespace free_fleet
-
-#endif // FREE_FLEET__SRC__CLIENTIMPL_HPP
diff --git a/free_fleet/src/Server.cpp b/free_fleet/src/Server.cpp
deleted file mode 100644
index b694b52d..00000000
--- a/free_fleet/src/Server.cpp
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <dds/dds.h>
-
-#include <free_fleet/Server.hpp>
-
-#include "ServerImpl.hpp"
-
-#include "messages/FleetMessages.h"
-#include "dds_utils/DDSPublishHandler.hpp"
-#include "dds_utils/DDSSubscribeHandler.hpp"
-
-namespace free_fleet {
-
-Server::SharedPtr Server::make(const ServerConfig& _config)
-{
-  SharedPtr server = SharedPtr(new Server(_config));
-
-  dds_entity_t participant = dds_create_participant(
-      static_cast<dds_domainid_t>(_config.dds_domain), NULL, NULL);
-  if (participant < 0)
-  {
-    DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
-    return nullptr;
-  }
-
-  dds::DDSSubscribeHandler<FreeFleetData_RobotState, 10>::SharedPtr state_sub(
-      new dds::DDSSubscribeHandler<FreeFleetData_RobotState, 10>(
-          participant, &FreeFleetData_RobotState_desc,
-          _config.dds_robot_state_topic));
-
-  dds::DDSPublishHandler<FreeFleetData_ModeRequest>::SharedPtr 
-      mode_request_pub(
-          new dds::DDSPublishHandler<FreeFleetData_ModeRequest>(
-              participant, &FreeFleetData_ModeRequest_desc,
-              _config.dds_mode_request_topic));
-
-  dds::DDSPublishHandler<FreeFleetData_PathRequest>::SharedPtr 
-      path_request_pub(
-          new dds::DDSPublishHandler<FreeFleetData_PathRequest>(
-              participant, &FreeFleetData_PathRequest_desc,
-              _config.dds_path_request_topic));
-
-  dds::DDSPublishHandler<FreeFleetData_DestinationRequest>::SharedPtr 
-      destination_request_pub(
-          new dds::DDSPublishHandler<FreeFleetData_DestinationRequest>(
-              participant, &FreeFleetData_DestinationRequest_desc,
-              _config.dds_destination_request_topic));
-
-  if (!state_sub->is_ready() ||
-      !mode_request_pub->is_ready() ||
-      !path_request_pub->is_ready() ||
-      !destination_request_pub->is_ready())
-    return nullptr;
-
-  server->impl->start(ServerImpl::Fields{
-      std::move(participant),
-      std::move(state_sub),
-      std::move(mode_request_pub),
-      std::move(path_request_pub),
-      std::move(destination_request_pub)});
-  return server;
-}
-
-Server::Server(const ServerConfig& _config)
-{
-  impl.reset(new ServerImpl(_config));
-}
-
-Server::~Server()
-{}
-
-bool Server::read_robot_states(
-    std::vector<messages::RobotState>& _new_robot_states)
-{
-  return impl->read_robot_states(_new_robot_states);
-}
-
-bool Server::send_mode_request(const messages::ModeRequest& _mode_request)
-{
-  return impl->send_mode_request(_mode_request);
-}
-
-bool Server::send_path_request(const messages::PathRequest& _path_request)
-{
-  return impl->send_path_request(_path_request);
-}
-
-bool Server::send_destination_request(
-    const messages::DestinationRequest& _destination_request)
-{
-  return impl->send_destination_request(_destination_request);
-}
-
-} // namespace free_fleet
diff --git a/free_fleet/src/ServerImpl.cpp b/free_fleet/src/ServerImpl.cpp
deleted file mode 100644
index 21c30213..00000000
--- a/free_fleet/src/ServerImpl.cpp
+++ /dev/null
@@ -1,90 +0,0 @@
-  /*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "ServerImpl.hpp"
-#include "messages/message_utils.hpp"
-
-namespace free_fleet {
-
-Server::ServerImpl::ServerImpl(const ServerConfig& _config) :
-  server_config(_config)
-{}
-
-Server::ServerImpl::~ServerImpl()
-{
-  dds_return_t return_code = dds_delete(fields.participant);
-  if (return_code != DDS_RETCODE_OK)
-  {
-    DDS_FATAL("dds_delete: %s", dds_strretcode(-return_code));
-  }
-}
-
-void Server::ServerImpl::start(Fields _fields)
-{
-  fields = std::move(_fields);
-}
-
-bool Server::ServerImpl::read_robot_states(
-    std::vector<messages::RobotState>& _new_robot_states)
-{
-  auto robot_states = fields.robot_state_sub->read();
-  if (!robot_states.empty())
-  {
-    _new_robot_states.clear();
-    for (size_t i = 0; i < robot_states.size(); ++i)
-    {
-      messages::RobotState tmp_robot_state;
-      convert(*(robot_states[i]), tmp_robot_state);
-      _new_robot_states.push_back(tmp_robot_state);
-    }
-    return true;
-  }
-  return false;
-}
-
-bool Server::ServerImpl::send_mode_request(
-    const messages::ModeRequest& _mode_request)
-{
-  FreeFleetData_ModeRequest* new_mr = FreeFleetData_ModeRequest__alloc();
-  convert(_mode_request, *new_mr);
-  bool sent = fields.mode_request_pub->write(new_mr);
-  FreeFleetData_ModeRequest_free(new_mr, DDS_FREE_ALL);
-  return sent;
-}
-
-bool Server::ServerImpl::send_path_request(
-    const messages::PathRequest& _path_request)
-{
-  FreeFleetData_PathRequest* new_pr = FreeFleetData_PathRequest__alloc();
-  convert(_path_request, *new_pr);
-  bool sent = fields.path_request_pub->write(new_pr);
-  FreeFleetData_PathRequest_free(new_pr, DDS_FREE_ALL);
-  return sent;
-}
-
-bool Server::ServerImpl::send_destination_request(
-    const messages::DestinationRequest& _destination_request)
-{
-  FreeFleetData_DestinationRequest* new_dr = 
-      FreeFleetData_DestinationRequest__alloc();
-  convert(_destination_request, *new_dr);
-  bool sent = fields.destination_request_pub->write(new_dr);
-  FreeFleetData_DestinationRequest_free(new_dr, DDS_FREE_ALL);
-  return sent;
-}
-
-} // namespace free_fleet
diff --git a/free_fleet/src/ServerImpl.hpp b/free_fleet/src/ServerImpl.hpp
deleted file mode 100644
index 45503e19..00000000
--- a/free_fleet/src/ServerImpl.hpp
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__SRC__SERVERIMPL_HPP
-#define FREE_FLEET__SRC__SERVERIMPL_HPP
-
-#include <free_fleet/messages/RobotState.hpp>
-#include <free_fleet/messages/ModeRequest.hpp>
-#include <free_fleet/messages/PathRequest.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-#include <free_fleet/Server.hpp>
-#include <free_fleet/ServerConfig.hpp>
-
-#include <dds/dds.h>
-
-#include "messages/FleetMessages.h"
-#include "dds_utils/DDSPublishHandler.hpp"
-#include "dds_utils/DDSSubscribeHandler.hpp"
-
-namespace free_fleet {
-
-class Server::ServerImpl
-{
-public:
-
-  /// DDS related fields required for the server to operate
-  struct Fields
-  {
-    /// DDS participant that is tied to the configured dds_domain_id
-    dds_entity_t participant;
-
-    /// DDS subscribers for new incoming robot states from clients
-    dds::DDSSubscribeHandler<FreeFleetData_RobotState, 10>::SharedPtr 
-        robot_state_sub;
-
-    /// DDS publisher for mode requests to be sent to clients
-    dds::DDSPublishHandler<FreeFleetData_ModeRequest>::SharedPtr
-        mode_request_pub;
-
-    /// DDS publisher for path requests to be sent to clients
-    dds::DDSPublishHandler<FreeFleetData_PathRequest>::SharedPtr
-        path_request_pub;
-
-    /// DDS publisher for destination requests to be sent to clients
-    dds::DDSPublishHandler<FreeFleetData_DestinationRequest>::SharedPtr
-        destination_request_pub;
-  };
-
-  ServerImpl(const ServerConfig& config);
-
-  ~ServerImpl();
-
-  void start(Fields fields);
-
-  bool read_robot_states(std::vector<messages::RobotState>& new_robot_states);
-
-  bool send_mode_request(const messages::ModeRequest& mode_request);
-
-  bool send_path_request(const messages::PathRequest& path_request);
-
-  bool send_destination_request(
-      const messages::DestinationRequest& destination_request);
-
-private:
-
-  Fields fields;
-
-  ServerConfig server_config;
-
-};
-
-} // namespace free_fleet
-
-#endif // FREE_FLEET__SRC__SERVERIMPL_HPP
diff --git a/free_fleet/src/configs/ClientConfig.cpp b/free_fleet/src/configs/ClientConfig.cpp
deleted file mode 100644
index 6c7c06c2..00000000
--- a/free_fleet/src/configs/ClientConfig.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <free_fleet/ClientConfig.hpp>
-
-#include <cstdio>
-
-namespace free_fleet {
-
-void ClientConfig::print_config() const
-{
-  printf("CLIENT-SERVER DDS CONFIGURATION\n");
-  printf("  dds domain: %d\n", dds_domain);
-  printf("  TOPICS\n");
-  printf("    robot state: %s\n", dds_state_topic.c_str());
-  printf("    mode request: %s\n", dds_mode_request_topic.c_str());
-  printf("    path request: %s\n", dds_path_request_topic.c_str());
-  printf("    destination request: %s\n", 
-      dds_destination_request_topic.c_str());
-}
-
-} // namespace free_fleet
diff --git a/free_fleet/src/configs/ServerConfig.cpp b/free_fleet/src/configs/ServerConfig.cpp
deleted file mode 100644
index b22f6479..00000000
--- a/free_fleet/src/configs/ServerConfig.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <free_fleet/ServerConfig.hpp>
-
-#include <cstdio>
-
-namespace free_fleet {
-
-void ServerConfig::print_config() const
-{
-  printf("SERVER-CLIENT DDS CONFIGURATION\n");
-  printf("  dds domain: %d\n", dds_domain);
-  printf("  TOPICS\n");
-  printf("    robot state: %s\n", dds_robot_state_topic.c_str());
-  printf("    mode request: %s\n", dds_mode_request_topic.c_str());
-  printf("    path request: %s\n", dds_path_request_topic.c_str());
-  printf("    destination request: %s\n", 
-      dds_destination_request_topic.c_str());
-}
-
-} // namespace free_fleet
diff --git a/free_fleet/src/dds_utils/DDSPublishHandler.hpp b/free_fleet/src/dds_utils/DDSPublishHandler.hpp
deleted file mode 100644
index ed090329..00000000
--- a/free_fleet/src/dds_utils/DDSPublishHandler.hpp
+++ /dev/null
@@ -1,102 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__SRC__DDS_UTILS__DDSPUBLISHHANDLER_HPP
-#define FREE_FLEET__SRC__DDS_UTILS__DDSPUBLISHHANDLER_HPP
-
-#include <memory>
-
-#include <dds/dds.h>
-
-namespace free_fleet {
-namespace dds {
-
-template <typename Message>
-class DDSPublishHandler
-{
-public:
-
-  using SharedPtr = std::shared_ptr<DDSPublishHandler>;
-
-private:
-
-  dds_return_t return_code;
-
-  const dds_topic_descriptor_t* topic_desc;
-
-  dds_entity_t topic;
-
-  dds_entity_t writer;
-
-  bool ready;
-
-public:
-
-  DDSPublishHandler(
-      const dds_entity_t& _participant,
-      const dds_topic_descriptor_t* _topic_desc,
-      const std::string& _topic_name) :
-    topic_desc(_topic_desc)
-  {
-    ready = false;
-
-    topic = dds_create_topic(
-        _participant, _topic_desc, _topic_name.c_str(), NULL, NULL);
-    if (topic < 0)
-    {
-      DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
-      return;
-    }
-
-    dds_qos_t* qos = dds_create_qos();
-    dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
-    writer = dds_create_writer(_participant, topic, qos, NULL);
-    if (writer < 0)
-    {
-      DDS_FATAL("dds_create_writer: %s\n", dds_strretcode(-writer));
-      return;
-    }
-    dds_delete_qos(qos);
-
-    ready = true;
-  }
-
-  ~DDSPublishHandler()
-  {}
-
-  bool is_ready()
-  {
-    return ready;
-  }
-
-  bool write(Message* msg)
-  {
-    return_code = dds_write(writer, msg);
-    if (return_code != DDS_RETCODE_OK)
-    {
-      DDS_FATAL("dds_write failed: %s", dds_strretcode(-return_code));
-      return false;
-    }
-    return true;
-  }
-
-};
-
-} // namespace dds
-} // namespace free_fleet
-
-#endif // FREE_FLEET__SRC__DDS_UTILS__DDSPUBLISHHANDLER_HPP
diff --git a/free_fleet/src/dds_utils/DDSSubscribeHandler.hpp b/free_fleet/src/dds_utils/DDSSubscribeHandler.hpp
deleted file mode 100644
index 73104f6d..00000000
--- a/free_fleet/src/dds_utils/DDSSubscribeHandler.hpp
+++ /dev/null
@@ -1,135 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__SRC__DDS_UTILS__DDSSUBSCRIBEHANDLER_HPP
-#define FREE_FLEET__SRC__DDS_UTILS__DDSSUBSCRIBEHANDLER_HPP
-
-#include <array>
-#include <memory>
-#include <vector>
-
-#include <dds/dds.h>
-
-namespace free_fleet {
-namespace dds {
-
-template <typename Message, size_t MaxSamplesNum = 1>
-class DDSSubscribeHandler
-{
-public:
-
-  using SharedPtr = std::shared_ptr<DDSSubscribeHandler>;
-
-private:
-
-  dds_return_t return_code;
-
-  const dds_topic_descriptor_t* topic_desc;
-
-  dds_entity_t topic;
-
-  dds_entity_t reader;
-
-  std::array<std::shared_ptr<Message>, MaxSamplesNum> shared_msgs;
-
-  void* samples[MaxSamplesNum];
-
-  dds_sample_info_t infos[MaxSamplesNum];
-
-  bool ready;
-
-public:
-
-  DDSSubscribeHandler(
-      const dds_entity_t& _participant,
-      const dds_topic_descriptor_t* _topic_desc,
-      const std::string& _topic_name) :
-    topic_desc(_topic_desc)
-  {
-    ready = false;
-
-    topic = dds_create_topic(
-        _participant, _topic_desc, _topic_name.c_str(), NULL, NULL);
-    if (topic < 0)
-    {
-      DDS_FATAL(
-          "dds_create_topic: %s\n", dds_strretcode(-topic));
-      return;
-    }
-
-    dds_qos_t* qos = dds_create_qos();
-    dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
-    reader = dds_create_reader(_participant, topic, qos, NULL);
-    if (reader < 0)
-    {
-      DDS_FATAL(
-          "dds_create_reader: %s\n", dds_strretcode(-reader));
-      return;
-    }
-    dds_delete_qos(qos);
-
-    for (size_t i = 0; i < shared_msgs.size(); ++i)
-    {
-      shared_msgs[i] = std::shared_ptr<Message>((Message*)dds_alloc(sizeof(Message)));
-      samples[i] = (void*)shared_msgs[i].get();
-    }
-
-    ready = true;
-  }
-
-  ~DDSSubscribeHandler()
-  {}
-
-  bool is_ready()
-  {
-    return ready;
-  }
-
-  std::vector<std::shared_ptr<const Message>> read()
-  {
-    std::vector<std::shared_ptr<const Message>> msgs;
-    if (!is_ready())
-      return msgs;
-
-    return_code = dds_take(reader, samples, infos, MaxSamplesNum, MaxSamplesNum);
-    if (return_code < 0)
-    {
-      DDS_FATAL("dds_take: %s\n", dds_strretcode(-return_code));
-      msgs.clear();
-      return msgs;
-    }
-
-    if (return_code > 0)
-    {
-      for (size_t i = 0; i < MaxSamplesNum; ++i)
-      {
-        if (infos[i].valid_data == true)
-          msgs.push_back(std::shared_ptr<const Message>(shared_msgs[i]));
-      }
-      return msgs;
-    }
-    msgs.clear();
-    return msgs;
-  }
-
-};
-
-} // namespace dds
-} // namespace free_fleet
-
-
-#endif // FREE_FLEET__SRC__DDS_UTILS__DDSSUBSCRIBEHANDLER_HPP
diff --git a/free_fleet/src/dds_utils/common.cpp b/free_fleet/src/dds_utils/common.cpp
deleted file mode 100644
index cb72be33..00000000
--- a/free_fleet/src/dds_utils/common.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "common.hpp"
-
-#include <dds/dds.h>
-
-namespace free_fleet {
-namespace common {
-
-char* dds_string_alloc_and_copy(const std::string& _str)
-{
-  char* ptr = dds_string_alloc(_str.length());
-  for (size_t i = 0; i < _str.length(); ++i)
-  {
-    ptr[i] = _str[i];
-  }
-  return ptr;
-}
-
-} // namespace common
-} // namespace free_fleet
diff --git a/free_fleet/src/dds_utils/common.hpp b/free_fleet/src/dds_utils/common.hpp
deleted file mode 100644
index b0aebe76..00000000
--- a/free_fleet/src/dds_utils/common.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREEFLEET__SRC__DDS_UTILS__COMMON_HPP
-#define FREEFLEET__SRC__DDS_UTILS__COMMON_HPP
-
-#include <string>
-
-namespace free_fleet {
-namespace common {
-
-char* dds_string_alloc_and_copy(const std::string& str);
-
-} // namespace common
-} // namespace free_fleet
-
-#endif // FREEFLEET__SRC__DDS_UTILS__COMMON_HPP
diff --git a/free_fleet/src/messages/FleetMessages.c b/free_fleet/src/messages/FleetMessages.c
deleted file mode 100644
index eef4fa35..00000000
--- a/free_fleet/src/messages/FleetMessages.c
+++ /dev/null
@@ -1,201 +0,0 @@
-/****************************************************************
-
-  Generated by Eclipse Cyclone DDS IDL to C Translator
-  File name: FleetMessages.c
-  Source: FleetMessages.idl
-  Cyclone DDS: V0.6.0
-
-*****************************************************************/
-#include "FleetMessages.h"
-
-
-static const uint32_t FreeFleetData_RobotMode_ops [] =
-{
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_RobotMode, mode),
-  DDS_OP_RTS
-};
-
-const dds_topic_descriptor_t FreeFleetData_RobotMode_desc =
-{
-  sizeof (FreeFleetData_RobotMode),
-  4u,
-  0u,
-  0u,
-  "FreeFleetData::RobotMode",
-  NULL,
-  2,
-  FreeFleetData_RobotMode_ops,
-  "<MetaData version=\"1.0.0\"><Module name=\"FreeFleetData\"><Struct name=\"RobotMode\"><Member name=\"mode\"><ULong/></Member></Struct></Module></MetaData>"
-};
-
-
-static const uint32_t FreeFleetData_Location_ops [] =
-{
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, sec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, nanosec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, x),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, y),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, yaw),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_Location, level_name),
-  DDS_OP_RTS
-};
-
-const dds_topic_descriptor_t FreeFleetData_Location_desc =
-{
-  sizeof (FreeFleetData_Location),
-  sizeof (char *),
-  DDS_TOPIC_NO_OPTIMIZE,
-  0u,
-  "FreeFleetData::Location",
-  NULL,
-  7,
-  FreeFleetData_Location_ops,
-  "<MetaData version=\"1.0.0\"><Module name=\"FreeFleetData\"><Struct name=\"Location\"><Member name=\"sec\"><Long/></Member><Member name=\"nanosec\"><ULong/></Member><Member name=\"x\"><Float/></Member><Member name=\"y\"><Float/></Member><Member name=\"yaw\"><Float/></Member><Member name=\"level_name\"><String/></Member></Struct></Module></MetaData>"
-};
-
-
-static const uint32_t FreeFleetData_RobotState_ops [] =
-{
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_RobotState, name),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_RobotState, model),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_RobotState, task_id),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_RobotState, mode.mode),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_RobotState, battery_percent),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_RobotState, location.sec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_RobotState, location.nanosec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_RobotState, location.x),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_RobotState, location.y),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_RobotState, location.yaw),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_RobotState, location.level_name),
-  DDS_OP_ADR | DDS_OP_TYPE_SEQ | DDS_OP_SUBTYPE_STU, offsetof (FreeFleetData_RobotState, path),
-  sizeof (FreeFleetData_Location), (17u << 16u) + 4u,
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, sec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, nanosec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, x),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, y),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, yaw),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_Location, level_name),
-  DDS_OP_RTS,
-  DDS_OP_RTS
-};
-
-const dds_topic_descriptor_t FreeFleetData_RobotState_desc =
-{
-  sizeof (FreeFleetData_RobotState),
-  sizeof (char *),
-  DDS_TOPIC_NO_OPTIMIZE,
-  0u,
-  "FreeFleetData::RobotState",
-  NULL,
-  21,
-  FreeFleetData_RobotState_ops,
-  "<MetaData version=\"1.0.0\"><Module name=\"FreeFleetData\"><Struct name=\"RobotMode\"><Member name=\"mode\"><ULong/></Member></Struct><Struct name=\"Location\"><Member name=\"sec\"><Long/></Member><Member name=\"nanosec\"><ULong/></Member><Member name=\"x\"><Float/></Member><Member name=\"y\"><Float/></Member><Member name=\"yaw\"><Float/></Member><Member name=\"level_name\"><String/></Member></Struct><Struct name=\"RobotState\"><Member name=\"name\"><String/></Member><Member name=\"model\"><String/></Member><Member name=\"task_id\"><String/></Member><Member name=\"mode\"><Type name=\"RobotMode\"/></Member><Member name=\"battery_percent\"><Float/></Member><Member name=\"location\"><Type name=\"Location\"/></Member><Member name=\"path\"><Sequence><Type name=\"Location\"/></Sequence></Member></Struct></Module></MetaData>"
-};
-
-
-static const uint32_t FreeFleetData_ModeParameter_ops [] =
-{
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_ModeParameter, name),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_ModeParameter, value),
-  DDS_OP_RTS
-};
-
-const dds_topic_descriptor_t FreeFleetData_ModeParameter_desc =
-{
-  sizeof (FreeFleetData_ModeParameter),
-  sizeof (char *),
-  DDS_TOPIC_NO_OPTIMIZE,
-  0u,
-  "FreeFleetData::ModeParameter",
-  NULL,
-  3,
-  FreeFleetData_ModeParameter_ops,
-  "<MetaData version=\"1.0.0\"><Module name=\"FreeFleetData\"><Struct name=\"ModeParameter\"><Member name=\"name\"><String/></Member><Member name=\"value\"><String/></Member></Struct></Module></MetaData>"
-};
-
-
-static const uint32_t FreeFleetData_ModeRequest_ops [] =
-{
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_ModeRequest, fleet_name),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_ModeRequest, robot_name),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_ModeRequest, mode.mode),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_ModeRequest, task_id),
-  DDS_OP_ADR | DDS_OP_TYPE_SEQ | DDS_OP_SUBTYPE_STU, offsetof (FreeFleetData_ModeRequest, parameters),
-  sizeof (FreeFleetData_ModeParameter), (9u << 16u) + 4u,
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_ModeParameter, name),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_ModeParameter, value),
-  DDS_OP_RTS,
-  DDS_OP_RTS
-};
-
-const dds_topic_descriptor_t FreeFleetData_ModeRequest_desc =
-{
-  sizeof (FreeFleetData_ModeRequest),
-  sizeof (char *),
-  DDS_TOPIC_NO_OPTIMIZE,
-  0u,
-  "FreeFleetData::ModeRequest",
-  NULL,
-  10,
-  FreeFleetData_ModeRequest_ops,
-  "<MetaData version=\"1.0.0\"><Module name=\"FreeFleetData\"><Struct name=\"RobotMode\"><Member name=\"mode\"><ULong/></Member></Struct><Struct name=\"ModeParameter\"><Member name=\"name\"><String/></Member><Member name=\"value\"><String/></Member></Struct><Struct name=\"ModeRequest\"><Member name=\"fleet_name\"><String/></Member><Member name=\"robot_name\"><String/></Member><Member name=\"mode\"><Type name=\"RobotMode\"/></Member><Member name=\"task_id\"><String/></Member><Member name=\"parameters\"><Sequence><Type name=\"ModeParameter\"/></Sequence></Member></Struct></Module></MetaData>"
-};
-
-
-static const uint32_t FreeFleetData_PathRequest_ops [] =
-{
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_PathRequest, fleet_name),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_PathRequest, robot_name),
-  DDS_OP_ADR | DDS_OP_TYPE_SEQ | DDS_OP_SUBTYPE_STU, offsetof (FreeFleetData_PathRequest, path),
-  sizeof (FreeFleetData_Location), (17u << 16u) + 4u,
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, sec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, nanosec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, x),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, y),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_Location, yaw),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_Location, level_name),
-  DDS_OP_RTS,
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_PathRequest, task_id),
-  DDS_OP_RTS
-};
-
-const dds_topic_descriptor_t FreeFleetData_PathRequest_desc =
-{
-  sizeof (FreeFleetData_PathRequest),
-  sizeof (char *),
-  DDS_TOPIC_NO_OPTIMIZE,
-  0u,
-  "FreeFleetData::PathRequest",
-  NULL,
-  13,
-  FreeFleetData_PathRequest_ops,
-  "<MetaData version=\"1.0.0\"><Module name=\"FreeFleetData\"><Struct name=\"Location\"><Member name=\"sec\"><Long/></Member><Member name=\"nanosec\"><ULong/></Member><Member name=\"x\"><Float/></Member><Member name=\"y\"><Float/></Member><Member name=\"yaw\"><Float/></Member><Member name=\"level_name\"><String/></Member></Struct><Struct name=\"PathRequest\"><Member name=\"fleet_name\"><String/></Member><Member name=\"robot_name\"><String/></Member><Member name=\"path\"><Sequence><Type name=\"Location\"/></Sequence></Member><Member name=\"task_id\"><String/></Member></Struct></Module></MetaData>"
-};
-
-
-static const uint32_t FreeFleetData_DestinationRequest_ops [] =
-{
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_DestinationRequest, fleet_name),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_DestinationRequest, robot_name),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_DestinationRequest, destination.sec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_DestinationRequest, destination.nanosec),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_DestinationRequest, destination.x),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_DestinationRequest, destination.y),
-  DDS_OP_ADR | DDS_OP_TYPE_4BY, offsetof (FreeFleetData_DestinationRequest, destination.yaw),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_DestinationRequest, destination.level_name),
-  DDS_OP_ADR | DDS_OP_TYPE_STR, offsetof (FreeFleetData_DestinationRequest, task_id),
-  DDS_OP_RTS
-};
-
-const dds_topic_descriptor_t FreeFleetData_DestinationRequest_desc =
-{
-  sizeof (FreeFleetData_DestinationRequest),
-  sizeof (char *),
-  DDS_TOPIC_NO_OPTIMIZE,
-  0u,
-  "FreeFleetData::DestinationRequest",
-  NULL,
-  10,
-  FreeFleetData_DestinationRequest_ops,
-  "<MetaData version=\"1.0.0\"><Module name=\"FreeFleetData\"><Struct name=\"Location\"><Member name=\"sec\"><Long/></Member><Member name=\"nanosec\"><ULong/></Member><Member name=\"x\"><Float/></Member><Member name=\"y\"><Float/></Member><Member name=\"yaw\"><Float/></Member><Member name=\"level_name\"><String/></Member></Struct><Struct name=\"DestinationRequest\"><Member name=\"fleet_name\"><String/></Member><Member name=\"robot_name\"><String/></Member><Member name=\"destination\"><Type name=\"Location\"/></Member><Member name=\"task_id\"><String/></Member></Struct></Module></MetaData>"
-};
diff --git a/free_fleet/src/messages/FleetMessages.h b/free_fleet/src/messages/FleetMessages.h
deleted file mode 100644
index 17b7e88c..00000000
--- a/free_fleet/src/messages/FleetMessages.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/****************************************************************
-
-  Generated by Eclipse Cyclone DDS IDL to C Translator
-  File name: FleetMessages.h
-  Source: FleetMessages.idl
-  Cyclone DDS: V0.6.0
-
-*****************************************************************/
-
-#include "dds/ddsc/dds_public_impl.h"
-
-#ifndef _DDSL_FLEETMESSAGES_H_
-#define _DDSL_FLEETMESSAGES_H_
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define FreeFleetData_RobotMode_Constants_MODE_IDLE 0
-#define FreeFleetData_RobotMode_Constants_MODE_CHARGING 1
-#define FreeFleetData_RobotMode_Constants_MODE_MOVING 2
-#define FreeFleetData_RobotMode_Constants_MODE_PAUSED 3
-#define FreeFleetData_RobotMode_Constants_MODE_WAITING 4
-#define FreeFleetData_RobotMode_Constants_MODE_EMERGENCY 5
-#define FreeFleetData_RobotMode_Constants_MODE_GOING_HOME 6
-#define FreeFleetData_RobotMode_Constants_MODE_DOCKING 7
-#define FreeFleetData_RobotMode_Constants_MODE_REQUEST_ERROR 8
-
-
-typedef struct FreeFleetData_RobotMode
-{
-  uint32_t mode;
-} FreeFleetData_RobotMode;
-
-extern const dds_topic_descriptor_t FreeFleetData_RobotMode_desc;
-
-#define FreeFleetData_RobotMode__alloc() \
-((FreeFleetData_RobotMode*) dds_alloc (sizeof (FreeFleetData_RobotMode)));
-
-#define FreeFleetData_RobotMode_free(d,o) \
-dds_sample_free ((d), &FreeFleetData_RobotMode_desc, (o))
-
-
-typedef struct FreeFleetData_Location
-{
-  int32_t sec;
-  uint32_t nanosec;
-  float x;
-  float y;
-  float yaw;
-  char * level_name;
-} FreeFleetData_Location;
-
-extern const dds_topic_descriptor_t FreeFleetData_Location_desc;
-
-#define FreeFleetData_Location__alloc() \
-((FreeFleetData_Location*) dds_alloc (sizeof (FreeFleetData_Location)));
-
-#define FreeFleetData_Location_free(d,o) \
-dds_sample_free ((d), &FreeFleetData_Location_desc, (o))
-
-typedef struct FreeFleetData_RobotState_path_seq
-{
-  uint32_t _maximum;
-  uint32_t _length;
-  FreeFleetData_Location *_buffer;
-  bool _release;
-} FreeFleetData_RobotState_path_seq;
-
-#define FreeFleetData_RobotState_path_seq__alloc() \
-((FreeFleetData_RobotState_path_seq*) dds_alloc (sizeof (FreeFleetData_RobotState_path_seq)));
-
-#define FreeFleetData_RobotState_path_seq_allocbuf(l) \
-((FreeFleetData_Location *) dds_alloc ((l) * sizeof (FreeFleetData_Location)))
-
-
-typedef struct FreeFleetData_RobotState
-{
-  char * name;
-  char * model;
-  char * task_id;
-  FreeFleetData_RobotMode mode;
-  float battery_percent;
-  FreeFleetData_Location location;
-  FreeFleetData_RobotState_path_seq path;
-} FreeFleetData_RobotState;
-
-extern const dds_topic_descriptor_t FreeFleetData_RobotState_desc;
-
-#define FreeFleetData_RobotState__alloc() \
-((FreeFleetData_RobotState*) dds_alloc (sizeof (FreeFleetData_RobotState)));
-
-#define FreeFleetData_RobotState_free(d,o) \
-dds_sample_free ((d), &FreeFleetData_RobotState_desc, (o))
-
-
-typedef struct FreeFleetData_ModeParameter
-{
-  char * name;
-  char * value;
-} FreeFleetData_ModeParameter;
-
-extern const dds_topic_descriptor_t FreeFleetData_ModeParameter_desc;
-
-#define FreeFleetData_ModeParameter__alloc() \
-((FreeFleetData_ModeParameter*) dds_alloc (sizeof (FreeFleetData_ModeParameter)));
-
-#define FreeFleetData_ModeParameter_free(d,o) \
-dds_sample_free ((d), &FreeFleetData_ModeParameter_desc, (o))
-
-typedef struct FreeFleetData_ModeRequest_parameters_seq
-{
-  uint32_t _maximum;
-  uint32_t _length;
-  FreeFleetData_ModeParameter *_buffer;
-  bool _release;
-} FreeFleetData_ModeRequest_parameters_seq;
-
-#define FreeFleetData_ModeRequest_parameters_seq__alloc() \
-((FreeFleetData_ModeRequest_parameters_seq*) dds_alloc (sizeof (FreeFleetData_ModeRequest_parameters_seq)));
-
-#define FreeFleetData_ModeRequest_parameters_seq_allocbuf(l) \
-((FreeFleetData_ModeParameter *) dds_alloc ((l) * sizeof (FreeFleetData_ModeParameter)))
-
-
-typedef struct FreeFleetData_ModeRequest
-{
-  char * fleet_name;
-  char * robot_name;
-  FreeFleetData_RobotMode mode;
-  char * task_id;
-  FreeFleetData_ModeRequest_parameters_seq parameters;
-} FreeFleetData_ModeRequest;
-
-extern const dds_topic_descriptor_t FreeFleetData_ModeRequest_desc;
-
-#define FreeFleetData_ModeRequest__alloc() \
-((FreeFleetData_ModeRequest*) dds_alloc (sizeof (FreeFleetData_ModeRequest)));
-
-#define FreeFleetData_ModeRequest_free(d,o) \
-dds_sample_free ((d), &FreeFleetData_ModeRequest_desc, (o))
-
-typedef struct FreeFleetData_PathRequest_path_seq
-{
-  uint32_t _maximum;
-  uint32_t _length;
-  FreeFleetData_Location *_buffer;
-  bool _release;
-} FreeFleetData_PathRequest_path_seq;
-
-#define FreeFleetData_PathRequest_path_seq__alloc() \
-((FreeFleetData_PathRequest_path_seq*) dds_alloc (sizeof (FreeFleetData_PathRequest_path_seq)));
-
-#define FreeFleetData_PathRequest_path_seq_allocbuf(l) \
-((FreeFleetData_Location *) dds_alloc ((l) * sizeof (FreeFleetData_Location)))
-
-
-typedef struct FreeFleetData_PathRequest
-{
-  char * fleet_name;
-  char * robot_name;
-  FreeFleetData_PathRequest_path_seq path;
-  char * task_id;
-} FreeFleetData_PathRequest;
-
-extern const dds_topic_descriptor_t FreeFleetData_PathRequest_desc;
-
-#define FreeFleetData_PathRequest__alloc() \
-((FreeFleetData_PathRequest*) dds_alloc (sizeof (FreeFleetData_PathRequest)));
-
-#define FreeFleetData_PathRequest_free(d,o) \
-dds_sample_free ((d), &FreeFleetData_PathRequest_desc, (o))
-
-
-typedef struct FreeFleetData_DestinationRequest
-{
-  char * fleet_name;
-  char * robot_name;
-  FreeFleetData_Location destination;
-  char * task_id;
-} FreeFleetData_DestinationRequest;
-
-extern const dds_topic_descriptor_t FreeFleetData_DestinationRequest_desc;
-
-#define FreeFleetData_DestinationRequest__alloc() \
-((FreeFleetData_DestinationRequest*) dds_alloc (sizeof (FreeFleetData_DestinationRequest)));
-
-#define FreeFleetData_DestinationRequest_free(d,o) \
-dds_sample_free ((d), &FreeFleetData_DestinationRequest_desc, (o))
-
-#ifdef __cplusplus
-}
-#endif
-#endif /* _DDSL_FLEETMESSAGES_H_ */
diff --git a/free_fleet/src/messages/FleetMessages.idl b/free_fleet/src/messages/FleetMessages.idl
deleted file mode 100644
index 9638fc74..00000000
--- a/free_fleet/src/messages/FleetMessages.idl
+++ /dev/null
@@ -1,65 +0,0 @@
-module FreeFleetData
-{
-  module RobotMode_Constants
-  {
-    const unsigned long MODE_IDLE = 0;
-    const unsigned long MODE_CHARGING = 1;
-    const unsigned long MODE_MOVING = 2;
-    const unsigned long MODE_PAUSED = 3;
-    const unsigned long MODE_WAITING = 4;
-    const unsigned long MODE_EMERGENCY = 5;
-    const unsigned long MODE_GOING_HOME = 6;
-    const unsigned long MODE_DOCKING = 7;
-    const unsigned long MODE_REQUEST_ERROR = 8;
-  };
-  struct RobotMode
-  {
-    unsigned long mode;
-  };
-  struct Location
-  {
-    long sec;
-    unsigned long nanosec;
-    float x;
-    float y;
-    float yaw;
-    string level_name;
-  };
-  struct RobotState
-  {
-    string name;
-    string model;
-    string task_id;
-    RobotMode mode;
-    float battery_percent;
-    Location location;
-    sequence<Location> path;
-  };
-  struct ModeParameter
-  {
-    string name;
-    string value;
-  };
-  struct ModeRequest
-  {
-    string fleet_name;
-    string robot_name;
-    RobotMode mode;
-    string task_id;
-    sequence<ModeParameter> parameters;
-  };
-  struct PathRequest
-  {
-    string fleet_name;
-    string robot_name;
-    sequence<Location> path;
-    string task_id;
-  };
-  struct DestinationRequest
-  {
-    string fleet_name;
-    string robot_name;
-    Location destination;
-    string task_id;
-  };
-};
diff --git a/free_fleet/src/messages/message_utils.cpp b/free_fleet/src/messages/message_utils.cpp
deleted file mode 100644
index e86bf1bc..00000000
--- a/free_fleet/src/messages/message_utils.cpp
+++ /dev/null
@@ -1,196 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <dds/dds.h>
-
-#include "../dds_utils/common.hpp"
-
-#include "message_utils.hpp"
-
-namespace free_fleet {
-namespace messages {
-
-void convert(const RobotMode& _input, FreeFleetData_RobotMode& _output)
-{
-  // Consequently, free fleet robot modes need to be ordered similarly as 
-  // RMF robot modes.
-  _output.mode = _input.mode;
-}
-
-void convert(const FreeFleetData_RobotMode& _input, RobotMode& _output)
-{
-  // Consequently, free fleet robot modes need to be ordered similarly as 
-  // RMF robot modes.
-  _output.mode = _input.mode;
-}
-
-void convert(const Location& _input, FreeFleetData_Location& _output)
-{
-  _output.sec = _input.sec;
-  _output.nanosec = _input.nanosec;
-  _output.x = _input.x;
-  _output.y = _input.y;
-  _output.yaw = _input.yaw;
-  _output.level_name = common::dds_string_alloc_and_copy(_input.level_name);
-}
-
-void convert(const FreeFleetData_Location& _input, Location& _output)
-{
-  _output.sec = _input.sec;
-  _output.nanosec = _input.nanosec;
-  _output.x = _input.x;
-  _output.y = _input.y;
-  _output.yaw = _input.yaw;
-  _output.level_name = std::string(_input.level_name);
-}
-
-void convert(const RobotState& _input, FreeFleetData_RobotState& _output)
-{
-  _output.name = common::dds_string_alloc_and_copy(_input.name);
-  _output.model = common::dds_string_alloc_and_copy(_input.model);
-  _output.task_id = common::dds_string_alloc_and_copy(_input.task_id);
-  convert(_input.mode, _output.mode);
-  _output.battery_percent = _input.battery_percent;
-  convert(_input.location, _output.location);
-
-  size_t path_length = _input.path.size();
-  _output.path._maximum = static_cast<uint32_t>(path_length);
-  _output.path._length = static_cast<uint32_t>(path_length);
-  _output.path._buffer = 
-      FreeFleetData_RobotState_path_seq_allocbuf(path_length);
-  _output.path._release = false;
-  for (size_t i = 0; i < path_length; ++i)
-    convert(_input.path[i], _output.path._buffer[i]);
-}
-
-void convert(const FreeFleetData_RobotState& _input, RobotState& _output)
-{
-  _output.name = std::string(_input.name);
-  _output.model = std::string(_input.model);
-  _output.task_id = std::string(_input.task_id);
-  convert(_input.mode, _output.mode);
-  _output.battery_percent = _input.battery_percent;
-  convert(_input.location, _output.location);
-
-  _output.path.clear();
-  for (uint32_t i = 0; i < _input.path._length; ++i)
-  {
-    Location tmp;
-    convert(_input.path._buffer[i], tmp);
-    _output.path.push_back(tmp);
-  }
-}
-
-
-void convert(const ModeParameter& _input, FreeFleetData_ModeParameter& _output)
-{
-  _output.name = common::dds_string_alloc_and_copy(_input.name);
-  _output.value = common::dds_string_alloc_and_copy(_input.value);
-}
-
-void convert(const FreeFleetData_ModeParameter& _input, ModeParameter& _output)
-{
-  _output.name = std::string(_input.name);
-  _output.value = std::string(_input.value);
-}
-
-void convert(const ModeRequest& _input, FreeFleetData_ModeRequest& _output)
-{
-  _output.fleet_name = common::dds_string_alloc_and_copy(_input.fleet_name);
-  _output.robot_name = common::dds_string_alloc_and_copy(_input.robot_name);
-  convert(_input.mode, _output.mode);
-  _output.task_id = common::dds_string_alloc_and_copy(_input.task_id);
-
-  size_t mode_parameter_num = _input.parameters.size();
-  _output.parameters._maximum = static_cast<uint32_t>(mode_parameter_num);
-  _output.parameters._length = static_cast<uint32_t>(mode_parameter_num);
-  _output.parameters._buffer = 
-      FreeFleetData_ModeRequest_parameters_seq_allocbuf(mode_parameter_num);
-  for (size_t i = 0; i < mode_parameter_num; ++i)
-    convert(_input.parameters[i], _output.parameters._buffer[i]);
-}
-
-void convert(const FreeFleetData_ModeRequest& _input, ModeRequest& _output)
-{
-  _output.fleet_name = std::string(_input.fleet_name);
-  _output.robot_name = std::string(_input.robot_name);
-  convert(_input.mode, _output.mode);
-  _output.task_id = std::string(_input.task_id);
-
-  _output.parameters.clear();
-  for (uint32_t i = 0; i < _input.parameters._length; ++i)
-  {
-    ModeParameter tmp;
-    convert(_input.parameters._buffer[i], tmp);
-    _output.parameters.push_back(tmp);
-  }
-}
-
-void convert(const PathRequest& _input, FreeFleetData_PathRequest& _output)
-{
-  _output.fleet_name = common::dds_string_alloc_and_copy(_input.fleet_name);
-  _output.robot_name = common::dds_string_alloc_and_copy(_input.robot_name);
-
-  size_t path_length = _input.path.size();
-  _output.path._maximum = static_cast<uint32_t>(path_length);
-  _output.path._length = static_cast<uint32_t>(path_length);
-  _output.path._buffer = 
-      FreeFleetData_PathRequest_path_seq_allocbuf(path_length);
-  for (size_t i = 0; i < path_length; ++i)
-    convert(_input.path[i], _output.path._buffer[i]);
-
-  _output.task_id = common::dds_string_alloc_and_copy(_input.task_id);
-}
-
-void convert(const FreeFleetData_PathRequest& _input, PathRequest& _output)
-{
-  _output.fleet_name = std::string(_input.fleet_name);
-  _output.robot_name = std::string(_input.robot_name);
-
-  _output.path.clear();
-  for (uint32_t i = 0; i < _input.path._length; ++i)
-  {
-    Location tmp;
-    convert(_input.path._buffer[i], tmp);
-    _output.path.push_back(tmp);
-  }
-
-  _output.task_id = std::string(_input.task_id);
-}
-
-void convert(
-    const DestinationRequest& _input, 
-    FreeFleetData_DestinationRequest& _output)
-{
-  _output.fleet_name = common::dds_string_alloc_and_copy(_input.fleet_name);
-  _output.robot_name = common::dds_string_alloc_and_copy(_input.robot_name);
-  convert(_input.destination, _output.destination);
-  _output.task_id = common::dds_string_alloc_and_copy(_input.task_id);
-}
-
-void convert(
-    const FreeFleetData_DestinationRequest& _input,
-    DestinationRequest& _output)
-{
-  _output.fleet_name = std::string(_input.fleet_name);
-  _output.robot_name = std::string(_input.robot_name);
-  convert(_input.destination, _output.destination);
-  _output.task_id = std::string(_input.task_id);
-}
-
-} // namespace messages
-} // namespace free_fleet
diff --git a/free_fleet/src/messages/message_utils.hpp b/free_fleet/src/messages/message_utils.hpp
deleted file mode 100644
index cafaa8a2..00000000
--- a/free_fleet/src/messages/message_utils.hpp
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__SRC__MESSAGES__MESSAGE_UTILS_HPP
-#define FREE_FLEET__SRC__MESSAGES__MESSAGE_UTILS_HPP
-
-#include <free_fleet/messages/Location.hpp>
-#include <free_fleet/messages/RobotMode.hpp>
-#include <free_fleet/messages/RobotState.hpp>
-#include <free_fleet/messages/ModeParameter.hpp>
-#include <free_fleet/messages/ModeRequest.hpp>
-#include <free_fleet/messages/PathRequest.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-
-#include "FleetMessages.h"
-
-namespace free_fleet {
-namespace messages {
-
-void convert(const RobotMode& _input, FreeFleetData_RobotMode& _output);
-
-void convert(const FreeFleetData_RobotMode& _input, RobotMode& _output);
-
-void convert(const Location& _input, FreeFleetData_Location& _output);
-
-void convert(const FreeFleetData_Location& _input, Location& _output);
-
-void convert(const RobotState& _input, FreeFleetData_RobotState& _output);
-
-void convert(const FreeFleetData_RobotState& _input, RobotState& _output);
-
-void convert(const ModeParameter& _input, FreeFleetData_ModeParameter& _output);
-
-void convert(const FreeFleetData_ModeParameter& _input, ModeParameter& _output);
-
-void convert(const ModeRequest& _input, FreeFleetData_ModeRequest& _output);
-
-void convert(const FreeFleetData_ModeRequest& _input, ModeRequest& _output);
-
-void convert(const PathRequest& _input, FreeFleetData_PathRequest& _output);
-
-void convert(const FreeFleetData_PathRequest& _input, PathRequest& _output);
-
-void convert(
-    const DestinationRequest& _input, 
-    FreeFleetData_DestinationRequest& _output);
-
-void convert(
-    const FreeFleetData_DestinationRequest& _input,
-    DestinationRequest& _output);
-
-} // namespace 
-} // namespace free_fleet
-
-#endif // FREE_FLEET__SRC__MESSAGES__MESSAGE_UTILS_HPP
diff --git a/free_fleet/src/tests/test_dds_pub_destination_request.cpp b/free_fleet/src/tests/test_dds_pub_destination_request.cpp
deleted file mode 100644
index 6edeb54e..00000000
--- a/free_fleet/src/tests/test_dds_pub_destination_request.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <limits>
-#include <iostream>
-
-#include <dds/dds.h>
-
-#include "../messages/FleetMessages.h"
-#include "../dds_utils/common.hpp"
-
-int main (int argc, char ** argv)
-{
-  if (argc < 5)
-  {
-    std::cout << "Please request using the following format," << std::endl;
-    std::cout << "<Executable> <Fleet name> <Robot Name> <Task ID> <X> <Y> <Yaw>" << std::endl;
-    return 1;
-  }
-
-  std::string fleet_name(argv[1]);
-  std::string robot_name(argv[2]);
-  std::string task_id(argv[3]);
-  double x = strtod(argv[4], NULL);
-  double y = strtod(argv[5], NULL);
-  double yaw = strtod(argv[6], NULL);
-  std::string level_name = "B1";
-
-  dds_entity_t participant;
-  dds_entity_t topic;
-  dds_entity_t writer;
-  dds_return_t rc;
-  dds_qos_t *qos;
-  FreeFleetData_DestinationRequest* msg;
-  msg = FreeFleetData_DestinationRequest__alloc();
-  uint32_t status = 0;
-  (void)argc;
-  (void)argv;
-
-  /* Create a Participant. */
-  participant = dds_create_participant(42, NULL, NULL);
-  if (participant < 0)
-    DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
-
-  /* Create a Topic. */
-  topic = dds_create_topic (
-    participant, &FreeFleetData_DestinationRequest_desc, "destination_request", 
-    NULL, NULL);
-  if (topic < 0)
-    DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
-
-  /* Create a Writer. */
-  qos = dds_create_qos();
-  dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
-  writer = dds_create_writer (participant, topic, qos, NULL);
-  if (writer < 0)
-    DDS_FATAL("dds_create_write: %s\n", dds_strretcode(-writer));
-  dds_delete_qos(qos);
-
-  printf("=== [Publisher]  Waiting for a reader to be discovered ...\n");
-  fflush (stdout);
-
-  rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
-
-  while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
-  {
-    rc = dds_get_status_changes (writer, &status);
-    if (rc != DDS_RETCODE_OK)
-      DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));
-
-    /* Polling sleep. */
-    dds_sleepfor (DDS_MSECS (20));
-  }
-
-  /* Create a message to write. */
-  msg->fleet_name = free_fleet::common::dds_string_alloc_and_copy(fleet_name);
-  msg->robot_name = free_fleet::common::dds_string_alloc_and_copy(robot_name);
-  msg->task_id = free_fleet::common::dds_string_alloc_and_copy(task_id);
-
-  // time is weird for now
-  msg->destination.sec = 123;
-  msg->destination.nanosec = 123;
-  msg->destination.x = x;
-  msg->destination.y = y;
-  msg->destination.yaw = yaw;
-  msg->destination.level_name = free_fleet::common::dds_string_alloc_and_copy(level_name);
-
-  printf ("=== [Publisher]  Writing : ");
-  printf ("Message: level_name %s\n", msg->destination.level_name);
-  fflush (stdout);
-
-  rc = dds_write (writer, msg);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_write: %s\n", dds_strretcode(-rc));
-
-  /* Deleting the participant will delete all its children recursively as well. */
-  rc = dds_delete (participant);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
-
-  FreeFleetData_DestinationRequest_free(msg, DDS_FREE_ALL);
-  return EXIT_SUCCESS;
-}
diff --git a/free_fleet/src/tests/test_dds_pub_mode_request.cpp b/free_fleet/src/tests/test_dds_pub_mode_request.cpp
deleted file mode 100644
index 09c90506..00000000
--- a/free_fleet/src/tests/test_dds_pub_mode_request.cpp
+++ /dev/null
@@ -1,127 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <iostream>
-#include <stdio.h>
-#include <stdlib.h>
-#include <limits>
-#include <iostream>
-
-#include <dds/dds.h>
-
-#include "../messages/FleetMessages.h"
-#include "../dds_utils/common.hpp"
-
-int main (int argc, char ** argv)
-{
-  if (argc < 4)
-  {
-    std::cout << "Please request using the following format," << std::endl;
-    std::cout << "<Executable> <Fleet name> <Robot Name> <Task ID> <Mode>" << std::endl;
-    return 1;
-  }
-
-  std::string fleet_name(argv[1]);
-  std::string robot_name(argv[2]);
-  std::string task_id(argv[3]);
-  std::string mode_request(argv[4]);
-
-  if (mode_request != "pause" && 
-      mode_request != "resume" &&
-      mode_request != "emergency")
-  {
-    std::cout << "Supported modes are pause, resume and emergency." << std::endl;
-    return 1;
-  }
-
-  dds_entity_t participant;
-  dds_entity_t topic;
-  dds_entity_t writer;
-  dds_return_t rc;
-  dds_qos_t *qos;
-  FreeFleetData_ModeRequest* msg;
-  msg = FreeFleetData_ModeRequest__alloc();
-  uint32_t status = 0;
-  (void)argc;
-  (void)argv;
-
-  /* Create a Participant. */
-  participant = dds_create_participant(42, NULL, NULL);
-  if (participant < 0)
-    DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
-
-  /* Create a Topic. */
-  topic = dds_create_topic (
-    participant, &FreeFleetData_ModeRequest_desc, "mode_request", 
-    NULL, NULL);
-  if (topic < 0)
-    DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
-
-  /* Create a Writer. */
-  qos = dds_create_qos();
-  dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
-  writer = dds_create_writer (participant, topic, qos, NULL);
-  if (writer < 0)
-    DDS_FATAL("dds_create_write: %s\n", dds_strretcode(-writer));
-  dds_delete_qos(qos);
-
-  printf("=== [Publisher]  Waiting for a reader to be discovered ...\n");
-  fflush (stdout);
-
-  rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
-
-  while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
-  {
-    rc = dds_get_status_changes (writer, &status);
-    if (rc != DDS_RETCODE_OK)
-      DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));
-
-    /* Polling sleep. */
-    dds_sleepfor (DDS_MSECS (20));
-  }
-
-  /* Create a message to write. */
-  msg->fleet_name = free_fleet::common::dds_string_alloc_and_copy(fleet_name);
-  msg->robot_name = free_fleet::common::dds_string_alloc_and_copy(robot_name);
-  msg->task_id = free_fleet::common::dds_string_alloc_and_copy(task_id);
-
-  if (mode_request == "pause")
-    msg->mode.mode = FreeFleetData_RobotMode_Constants_MODE_PAUSED;
-  else if (mode_request == "resume")
-    msg->mode.mode = FreeFleetData_RobotMode_Constants_MODE_MOVING;
-  else if (mode_request == "emergency")
-    msg->mode.mode = FreeFleetData_RobotMode_Constants_MODE_EMERGENCY;
-  
-  printf ("=== [Publisher]  Writing : ");
-  printf ("Message: mode_request %s\n", mode_request.c_str());
-  fflush (stdout);
-
-  rc = dds_write (writer, msg);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_write: %s\n", dds_strretcode(-rc));
-
-  /* Deleting the participant will delete all its children recursively as well. */
-  rc = dds_delete (participant);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
-
-  FreeFleetData_ModeRequest_free(msg, DDS_FREE_ALL);
-
-  return EXIT_SUCCESS;
-}
diff --git a/free_fleet/src/tests/test_dds_pub_path_request.cpp b/free_fleet/src/tests/test_dds_pub_path_request.cpp
deleted file mode 100644
index b5fae1a0..00000000
--- a/free_fleet/src/tests/test_dds_pub_path_request.cpp
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <limits>
-#include <iostream>
-
-#include <dds/dds.h>
-
-#include "../messages/FleetMessages.h"
-#include "../dds_utils/common.hpp"
-
-int main (int argc, char ** argv)
-{
-  if (argc < 3)
-  {
-    std::cout << "Please request using the following format," << std::endl;
-    std::cout << "<Executable> <Fleet name> <Robot Name> <Task ID>" << std::endl;
-    return 1;
-  }
-
-  std::string fleet_name(argv[1]);
-  std::string robot_name(argv[2]);
-  std::string task_id(argv[3]);
-  std::string level_name = "B1";
-
-  dds_entity_t participant;
-  dds_entity_t topic;
-  dds_entity_t writer;
-  dds_return_t rc;
-  dds_qos_t *qos;
-  FreeFleetData_PathRequest* msg;
-  msg = FreeFleetData_PathRequest__alloc();
-  uint32_t status = 0;
-  (void)argc;
-  (void)argv;
-
-  /* Create a Participant. */
-  participant = dds_create_participant(42, NULL, NULL);
-  if (participant < 0)
-    DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
-
-  /* Create a Topic. */
-  topic = dds_create_topic (
-    participant, &FreeFleetData_PathRequest_desc, "path_request", 
-    NULL, NULL);
-  if (topic < 0)
-    DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
-
-  /* Create a Writer. */
-  qos = dds_create_qos();
-  dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
-  writer = dds_create_writer (participant, topic, qos, NULL);
-  if (writer < 0)
-    DDS_FATAL("dds_create_write: %s\n", dds_strretcode(-writer));
-  dds_delete_qos(qos);
-
-  printf("=== [Publisher]  Waiting for a reader to be discovered ...\n");
-  fflush (stdout);
-
-  rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
-
-  while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
-  {
-    rc = dds_get_status_changes (writer, &status);
-    if (rc != DDS_RETCODE_OK)
-      DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));
-
-    /* Polling sleep. */
-    dds_sleepfor (DDS_MSECS (20));
-  }
-
-  /* Create a message to write. */
-  msg->fleet_name = free_fleet::common::dds_string_alloc_and_copy(fleet_name);
-  msg->robot_name = free_fleet::common::dds_string_alloc_and_copy(robot_name);
-  msg->task_id = free_fleet::common::dds_string_alloc_and_copy(task_id);
-
-  msg->path._maximum = 50;
-  msg->path._length = 50;
-  msg->path._buffer = FreeFleetData_PathRequest_path_seq_allocbuf(10);
-  msg->path._release = false;
-
-  for (int i = 0; i < 50; ++i)
-  {
-    msg->path._buffer[i].sec = 123 + i;
-    msg->path._buffer[i].nanosec = 123 + i;
-    msg->path._buffer[i].x = 6.4166097641 + i;
-    msg->path._buffer[i].y = 1.489 + i;
-    msg->path._buffer[i].yaw = 0.0;
-    msg->path._buffer[i].level_name = free_fleet::common::dds_string_alloc_and_copy(level_name);
-  }
-
-  printf ("=== [Publisher]  Writing : ");
-  printf ("Message: path length %u\n", msg->path._length);
-  fflush (stdout);
-
-  rc = dds_write (writer, msg);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_write: %s\n", dds_strretcode(-rc));
-
-  /* Deleting the participant will delete all its children recursively as well. */
-  rc = dds_delete (participant);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
-
-  FreeFleetData_PathRequest_free(msg, DDS_FREE_ALL);
-  return EXIT_SUCCESS;
-}
diff --git a/free_fleet/src/tests/test_dds_pub_sim_path_request.cpp b/free_fleet/src/tests/test_dds_pub_sim_path_request.cpp
deleted file mode 100644
index b6e4f7ff..00000000
--- a/free_fleet/src/tests/test_dds_pub_sim_path_request.cpp
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <limits>
-#include <iostream>
-
-#include <dds/dds.h>
-
-#include "../messages/FleetMessages.h"
-#include "../dds_utils/common.hpp"
-
-int main (int argc, char ** argv)
-{
-  if (argc < 3)
-  {
-    std::cout << "Please request using the following format," << std::endl;
-    std::cout << "<Executable> <Fleet name> <Robot Name> <Task ID>" << std::endl;
-    return 1;
-  }
-
-  std::string fleet_name(argv[1]);
-  std::string robot_name(argv[2]);
-  std::string task_id(argv[3]);
-  std::string level_name = "B1";
-
-  dds_entity_t participant;
-  dds_entity_t topic;
-  dds_entity_t writer;
-  dds_return_t rc;
-  dds_qos_t *qos;
-  FreeFleetData_PathRequest* msg;
-  msg = FreeFleetData_PathRequest__alloc();
-  uint32_t status = 0;
-  (void)argc;
-  (void)argv;
-
-  /* Create a Participant. */
-  participant = dds_create_participant(42, NULL, NULL);
-  if (participant < 0)
-    DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
-
-  /* Create a Topic. */
-  topic = dds_create_topic (
-    participant, &FreeFleetData_PathRequest_desc, "path_request", 
-    NULL, NULL);
-  if (topic < 0)
-    DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
-
-  /* Create a Writer. */
-  qos = dds_create_qos();
-  dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
-  writer = dds_create_writer (participant, topic, qos, NULL);
-  if (writer < 0)
-    DDS_FATAL("dds_create_write: %s\n", dds_strretcode(-writer));
-  dds_delete_qos(qos);
-
-  printf("=== [Publisher]  Waiting for a reader to be discovered ...\n");
-  fflush (stdout);
-
-  rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
-
-  while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
-  {
-    rc = dds_get_status_changes (writer, &status);
-    if (rc != DDS_RETCODE_OK)
-      DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));
-
-    /* Polling sleep. */
-    dds_sleepfor (DDS_MSECS (20));
-  }
-
-  /* Create a message to write. */
-  msg->fleet_name = free_fleet::common::dds_string_alloc_and_copy(fleet_name);
-  msg->robot_name = free_fleet::common::dds_string_alloc_and_copy(robot_name);
-  msg->task_id = free_fleet::common::dds_string_alloc_and_copy(task_id);
-
-  msg->path._maximum = 4;
-  msg->path._length = 4;
-  msg->path._buffer = FreeFleetData_PathRequest_path_seq_allocbuf(10);
-  msg->path._release = false;
-
-  msg->path._buffer[0].sec = 123;
-  msg->path._buffer[0].nanosec = 123;
-  msg->path._buffer[0].x = 0.735785007477;
-  msg->path._buffer[0].y = -1.78202533722;
-  msg->path._buffer[0].yaw = 0.0;
-  msg->path._buffer[0].level_name = free_fleet::common::dds_string_alloc_and_copy(level_name);
-  
-  msg->path._buffer[1].sec = 133;
-  msg->path._buffer[1].nanosec = 133;
-  msg->path._buffer[1].x = 1.09616982937;
-  msg->path._buffer[1].y = 1.89214968681;
-  msg->path._buffer[1].yaw = 0.0;
-  msg->path._buffer[1].level_name = free_fleet::common::dds_string_alloc_and_copy(level_name);
-
-  msg->path._buffer[2].sec = 143;
-  msg->path._buffer[2].nanosec = 143;
-  msg->path._buffer[2].x = -1.93706703186;
-  msg->path._buffer[2].y = 0.680773854256;
-  msg->path._buffer[2].yaw = 0.0;
-  msg->path._buffer[2].level_name = free_fleet::common::dds_string_alloc_and_copy(level_name);
-
-  msg->path._buffer[3].sec = 153;
-  msg->path._buffer[3].nanosec = 153;
-  msg->path._buffer[3].x = -1.98976910114;
-  msg->path._buffer[3].y = -0.43612909317;
-  msg->path._buffer[3].yaw = 0.0;
-  msg->path._buffer[3].level_name = free_fleet::common::dds_string_alloc_and_copy(level_name);
-
-  printf ("=== [Publisher]  Writing : ");
-  printf ("Message: path length %u\n", msg->path._length);
-  fflush (stdout);
-
-  rc = dds_write (writer, msg);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_write: %s\n", dds_strretcode(-rc));
-
-  /* Deleting the participant will delete all its children recursively as well. */
-  rc = dds_delete (participant);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
-
-  FreeFleetData_PathRequest_free(msg, DDS_FREE_ALL);
-  return EXIT_SUCCESS;
-}
diff --git a/free_fleet/src/tests/test_dds_sub_state.cpp b/free_fleet/src/tests/test_dds_sub_state.cpp
deleted file mode 100644
index 4a91017b..00000000
--- a/free_fleet/src/tests/test_dds_sub_state.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <iostream>
-
-#include <dds/dds.h>
-
-#include "../messages/FleetMessages.h"
-
-int main(int argc, char** argv)
-{
-  dds_entity_t participant;
-  dds_entity_t topic;
-  dds_entity_t reader;
-
-  FreeFleetData_RobotState* msg;
-  void* samples[1];
-  dds_sample_info_t infos[1];
-
-  dds_return_t rc;
-  dds_qos_t* qos;
-
-  (void)argc;
-  (void)argv;
-
-  /* Create a participant */
-  participant = dds_create_participant(42, NULL, NULL);
-  if (participant < 0)
-    DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
-
-  /* Create a Topic. */
-  topic = dds_create_topic (
-    participant, &FreeFleetData_RobotState_desc, 
-    "robot_state", NULL, NULL);
-  if (topic < 0)
-    DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
-
-  /* Create a best effort Reader (UDP) */
-  qos = dds_create_qos ();
-  dds_qset_reliability(qos, DDS_RELIABILITY_BEST_EFFORT, 0);
-  reader = dds_create_reader (participant, topic, qos, NULL);
-  if (reader < 0)
-    DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-reader));
-  dds_delete_qos(qos);
-
-  printf ("\n=== [Subscriber] Waiting for a sample ...\n");
-  fflush (stdout);
-
-  /* Initialize sample buffer, by pointing the void pointer within
-   * the buffer array to a valid sample memory location. */
-  samples[0] = FreeFleetData_RobotState__alloc();
-
-  /* Poll until data has been read. */
-  while (true)
-  {
-    /* Do the actual read.
-     * The return value contains the number of read samples. */
-    rc = dds_take(reader, samples, infos, 1, 1);
-    if (rc < 0)
-      DDS_FATAL("dds_read: %s\n", dds_strretcode(-rc));
-
-    /* Check if we read some data and it is valid. */
-    if ((rc > 0) && (infos[0].valid_data))
-    {
-      /* Print Message. */
-      msg = (FreeFleetData_RobotState*)samples[0];
-      std::cout << "=== [Subscriber] Received : " << std::endl;
-      std::cout << "name:    " << msg->name << std::endl;
-      std::cout << "model:   " << msg->model << std::endl;
-      std::string task_id(msg->task_id);
-      std::cout << "task_id: " << task_id << std::endl;
-      std::cout << "battery: " << msg->battery_percent << std::endl;
-      std::cout << "sec:  " << msg->location.sec << std::endl;
-      std::cout << "nsec: " << msg->location.nanosec << std::endl;
-      std::cout << "x: " << msg->location.x << std::endl;
-      std::cout << "y: " << msg->location.y << std::endl;
-      std::cout << "yaw: " << msg->location.yaw << std::endl;
-      std::cout << "mode: ";
-      if (msg->mode.mode == FreeFleetData_RobotMode_Constants_MODE_IDLE)
-        std::cout << "IDLE" << std::endl;
-      else if (
-          msg->mode.mode == FreeFleetData_RobotMode_Constants_MODE_CHARGING)
-        std::cout << "CHARGING" << std::endl;
-      else if (msg->mode.mode == FreeFleetData_RobotMode_Constants_MODE_MOVING)
-        std::cout << "MOVING" << std::endl;
-      else if (msg->mode.mode == FreeFleetData_RobotMode_Constants_MODE_PAUSED)
-        std::cout << "PAUSED" << std::endl;
-      else if (
-          msg->mode.mode == FreeFleetData_RobotMode_Constants_MODE_WAITING)
-        std::cout << "WAITING" << std::endl;
-      else if (
-          msg->mode.mode == FreeFleetData_RobotMode_Constants_MODE_EMERGENCY)
-        std::cout << "EMERGENCY" << std::endl;
-      //break;
-    }
-    else
-    {
-      /* Polling sleep. */
-      dds_sleepfor (DDS_MSECS (20));
-    }
-  }
-
-  /* Free the data location. */
-  FreeFleetData_RobotState_free (samples[0], DDS_FREE_ALL);
-
-  /* Deleting the participant will delete all its children recursively as well. */
-  rc = dds_delete (participant);
-  if (rc != DDS_RETCODE_OK)
-    DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
-
-  return EXIT_SUCCESS;
-}
diff --git a/free_fleet/tests/__init__.py b/free_fleet/tests/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet/tests/test_convert.py b/free_fleet/tests/test_convert.py
new file mode 100644
index 00000000..995d9d3e
--- /dev/null
+++ b/free_fleet/tests/test_convert.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from free_fleet.convert import (
+    transform_stamped_to_ros2_msg,
+    transform_time_to_ros2_msg
+)
+from free_fleet.ros1_types import (
+    Header as Nav1Header,
+    Quaternion as Nav1Quaternion,
+    Time as Nav1Time,
+    Transform as Nav1Transform,
+    TransformStamped as Nav1TransformStamped,
+    Vector3 as Nav1Vector3
+)
+from free_fleet.ros2_types import (
+    GeometryMsgs_Quaternion as Nav2Quaternion,
+    GeometryMsgs_Transform as Nav2Transform,
+    GeometryMsgs_TransformStamped as Nav2TransformStamped,
+    GeometryMsgs_Vector3 as Nav2Vector3,
+    Header as Nav2Header,
+    Time as Nav2Time
+)
+
+
+def test_nav2_transform_time_to_ros2_msg():
+    time = Nav2Time(sec=123, nanosec=456)
+    converted = transform_time_to_ros2_msg(time)
+    assert converted.sec == time.sec
+    assert converted.nanosec == time.nanosec
+
+
+def test_nav2_transform_stamped_to_ros2_msg():
+    frame_id = 'test_header_frame_id'
+    child_frame_id = 'test_child_frame_id'
+
+    msg = Nav2TransformStamped(
+        header=Nav2Header(
+            stamp=Nav2Time(sec=123, nanosec=456),
+            frame_id=frame_id,
+        ),
+        child_frame_id=child_frame_id,
+        transform=Nav2Transform(
+            translation=Nav2Vector3(x=1, y=2, z=3),
+            rotation=Nav2Quaternion(),
+        )
+    )
+    converted = transform_stamped_to_ros2_msg(msg)
+    assert converted.header.stamp.sec == 123
+    assert converted.header.stamp.nanosec == 456
+    assert converted.header.frame_id == frame_id
+    assert converted.child_frame_id == child_frame_id
+    assert abs(converted.transform.translation.x - 1) <= 1e-6
+    assert abs(converted.transform.translation.y - 2) <= 1e-6
+    assert abs(converted.transform.translation.z - 3) <= 1e-6
+    assert abs(converted.transform.rotation.x - 0) <= 1e-6
+    assert abs(converted.transform.rotation.y - 0) <= 1e-6
+    assert abs(converted.transform.rotation.z - 0) <= 1e-6
+    assert abs(converted.transform.rotation.w - 1) <= 1e-6
+
+
+def test_nav1_transform_time_to_ros2_msg():
+    time = Nav1Time.msg_type(sec=123, nanosec=456)
+    converted = transform_time_to_ros2_msg(time)
+    assert converted.sec == time.sec
+    assert converted.nanosec == time.nanosec
+
+
+def test_nav1_transform_stamped_to_ros2_msg():
+    frame_id = 'test_header_frame_id'
+    child_frame_id = 'test_child_frame_id'
+
+    msg = Nav1TransformStamped.msg_type(
+        header=Nav1Header.msg_type(
+            seq=0,
+            stamp=Nav1Time.msg_type(sec=123, nanosec=456),
+            frame_id=frame_id,
+        ),
+        child_frame_id=child_frame_id,
+        transform=Nav1Transform.msg_type(
+            translation=Nav1Vector3.msg_type(x=1, y=2, z=3),
+            rotation=Nav1Quaternion.msg_type(x=0, y=0, z=0, w=1),
+        )
+    )
+    converted = transform_stamped_to_ros2_msg(msg)
+    assert converted.header.stamp.sec == 123
+    assert converted.header.stamp.nanosec == 456
+    assert converted.header.frame_id == frame_id
+    assert converted.child_frame_id == child_frame_id
+    assert abs(converted.transform.translation.x - 1) <= 1e-6
+    assert abs(converted.transform.translation.y - 2) <= 1e-6
+    assert abs(converted.transform.translation.z - 3) <= 1e-6
+    assert abs(converted.transform.rotation.x - 0) <= 1e-6
+    assert abs(converted.transform.rotation.y - 0) <= 1e-6
+    assert abs(converted.transform.rotation.z - 0) <= 1e-6
+    assert abs(converted.transform.rotation.w - 1) <= 1e-6
diff --git a/free_fleet/tests/test_copyright.py b/free_fleet/tests/test_copyright.py
new file mode 100644
index 00000000..cc8ff03f
--- /dev/null
+++ b/free_fleet/tests/test_copyright.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/free_fleet/tests/test_flake8.py b/free_fleet/tests/test_flake8.py
new file mode 100644
index 00000000..26030113
--- /dev/null
+++ b/free_fleet/tests/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, 'Found %d code style errors / warnings:\n' % len(
+        errors
+    ) + '\n'.join(errors)
diff --git a/free_fleet/tests/test_pep257.py b/free_fleet/tests/test_pep257.py
new file mode 100644
index 00000000..b234a384
--- /dev/null
+++ b/free_fleet/tests/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/free_fleet/tests/test_utils.py b/free_fleet/tests/test_utils.py
new file mode 100644
index 00000000..e3b0f05c
--- /dev/null
+++ b/free_fleet/tests/test_utils.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from free_fleet.ros1_types import ROS1_STORE, TFMessage
+from free_fleet.utils import (
+    get_zenoh_name_of_ros1_topic,
+    make_nav2_cancel_all_goals_request,
+    namespacify
+)
+
+
+def test_namespacify():
+    assert namespacify('base_name', '') == 'base_name'
+    assert namespacify('base_name', 'namespace') == 'namespace/base_name'
+    assert namespacify('base_name', 'namespace', '!') == 'namespace!base_name'
+
+
+def test_make_nav2_cancel_all_goals_request():
+    request = make_nav2_cancel_all_goals_request()
+    assert request.goal_info.goal_id.uuid == [0 for i in range(16)]
+    assert request.goal_info.stamp.sec == 0
+    assert request.goal_info.stamp.nanosec == 0
+
+
+def test_get_zenoh_name_of_ros1_topic():
+    test_topic = '/test/topic'
+    zenoh_topic = get_zenoh_name_of_ros1_topic(
+        ROS1_STORE,
+        test_topic,
+        TFMessage.type_name
+    )
+    assert zenoh_topic.endswith(test_topic)
+
+    topic_parts = zenoh_topic.split('/')
+    assert len(topic_parts) == 4
diff --git a/free_fleet_adapter/CMakeLists.txt b/free_fleet_adapter/CMakeLists.txt
new file mode 100644
index 00000000..314c8b3d
--- /dev/null
+++ b/free_fleet_adapter/CMakeLists.txt
@@ -0,0 +1,70 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(free_fleet_adapter)
+
+find_package(ament_cmake REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  ${PROJECT_NAME}/fleet_adapter.py
+  ${PROJECT_NAME}/nav1_robot_adapter.py
+  ${PROJECT_NAME}/nav2_robot_adapter.py
+  ${PROJECT_NAME}/robot_adapter.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  launch/
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  set(_pytest_tests
+    tests/test_copyright.py
+    tests/test_flake8.py
+    tests/test_pep257.py
+  )
+  foreach(_test_path ${_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+  endforeach()
+
+  if (NAV2_INTEGRATION_TESTING)
+    set(_pytest_tests
+      tests/integration/test_nav2_tf_handler.py
+      tests/integration/test_nav2_robot_adapter.py
+    )
+    foreach(_test_path ${_pytest_tests})
+      get_filename_component(_test_name ${_test_path} NAME_WE)
+      ament_add_pytest_test(${_test_name} ${_test_path}
+        APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+        TIMEOUT 60
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+      )
+    endforeach()
+  elseif (NAV1_INTEGRATION_TESTING)
+    # test_nav1_move_base_handler and test_nav1_robot_adapter will affect one
+    # another, therefore only one can be run during integration testing
+    set(_pytest_tests
+      # tests/integration/test_nav1_move_base_handler.py
+      tests/integration/test_nav1_tf_handler.py
+      tests/integration/test_nav1_robot_adapter.py
+    )
+    foreach(_test_path ${_pytest_tests})
+      get_filename_component(_test_name ${_test_path} NAME_WE)
+      ament_add_pytest_test(${_test_name} ${_test_path}
+        APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+        TIMEOUT 60
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+      )
+    endforeach()
+  endif()
+endif()
+
+ament_package()
diff --git a/free_fleet_adapter/free_fleet_adapter/__init__.py b/free_fleet_adapter/free_fleet_adapter/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet_adapter/free_fleet_adapter/fleet_adapter.py b/free_fleet_adapter/free_fleet_adapter/fleet_adapter.py
new file mode 100644
index 00000000..b6766ed2
--- /dev/null
+++ b/free_fleet_adapter/free_fleet_adapter/fleet_adapter.py
@@ -0,0 +1,295 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import asyncio
+import sys
+import threading
+import time
+
+from free_fleet_adapter.nav1_robot_adapter import Nav1RobotAdapter
+from free_fleet_adapter.nav2_robot_adapter import Nav2RobotAdapter
+import nudged
+import rclpy
+from rclpy.duration import Duration
+import rclpy.node
+from rclpy.parameter import Parameter
+import rmf_adapter
+from rmf_adapter import Adapter, Transformation
+import rmf_adapter.easy_full_control as rmf_easy
+from tf2_ros import Buffer
+import yaml
+import zenoh
+
+
+# ------------------------------------------------------------------------------
+# Helper functions
+# ------------------------------------------------------------------------------
+def compute_transforms(level, coords, node=None):
+    """Get transforms between RMF and robot coordinates."""
+    rmf_coords = coords['rmf']
+    robot_coords = coords['robot']
+    tf = nudged.estimate(rmf_coords, robot_coords)
+    if node:
+        mse = nudged.estimate_error(tf, rmf_coords, robot_coords)
+        node.get_logger().info(
+            f'Transformation error estimate for {level}: {mse}'
+        )
+
+    return Transformation(
+        tf.get_rotation(),
+        tf.get_scale(),
+        tf.get_translation()
+    )
+
+
+# ------------------------------------------------------------------------------
+# Fleet adapter
+# ------------------------------------------------------------------------------
+# TODO(ac): End-to-end testing with fleet adapter.
+def start_fleet_adapter(
+    config_path: str,
+    nav_graph_path: str,
+    zenoh_config_path: str | None,
+    server_uri: str | None,
+    use_sim_time: bool
+):
+    print('Starting fleet adapter...')
+
+    # Init adapter
+    rmf_adapter.init_rclcpp()
+
+    fleet_config = rmf_easy.FleetConfiguration.from_config_files(
+        config_path, nav_graph_path
+    )
+    assert fleet_config, f'Failed to parse config file [{config_path}]'
+
+    # Parse the yaml in Python to get the fleet_manager info
+    with open(config_path, 'r') as f:
+        config_yaml = yaml.safe_load(f)
+
+    # ROS 2 node for the command handle
+    fleet_name = fleet_config.fleet_name
+    node = rclpy.node.Node(f'{fleet_name}_command_handle')
+    adapter = Adapter.make(f'{fleet_name}_fleet_adapter')
+    assert adapter, (
+        'Unable to initialize fleet adapter. '
+        'Please ensure RMF Schedule Node is running'
+    )
+
+    # Enable sim time for testing offline
+    if use_sim_time:
+        param = Parameter('use_sim_time', Parameter.Type.BOOL, True)
+        node.set_parameters([param])
+        adapter.node.use_sim_time()
+
+    adapter.start()
+    time.sleep(1.0)
+
+    fleet_config.server_uri = server_uri
+
+    # Configure the transforms between robot and RMF frames
+    for level, coords in config_yaml['reference_coordinates'].items():
+        tf = compute_transforms(level, coords, node)
+        fleet_config.add_robot_coordinates_transformation(level, tf)
+
+    fleet_handle = adapter.add_easy_fleet(fleet_config)
+    assert fleet_handle is not None, \
+        'Failed to create EasyFullControl fleet, \
+        please verify that the fleet config is valid.'
+
+    # Initialize zenoh
+    zenoh_config = zenoh.Config.from_file(zenoh_config_path) \
+        if zenoh_config_path is not None else zenoh.Config()
+    zenoh_session = zenoh.open(zenoh_config)
+
+    # Set up tf2 buffer
+    tf_buffer = Buffer()
+
+    # TODO(ac): Support custom actions, see Nav2RobotAdapter.execute_action
+    # For now, custom actions are not supported. This section to be removed
+    # once custom actions have been implemented.
+    if 'actions' in config_yaml['rmf_fleet'] and \
+            len(config_yaml['rmf_fleet']['actions']) > 0:
+        error_message = \
+            'Execute actions are currently unsupported, this might be a ' \
+            'configuration error.'
+        node.get_logger().error(error_message)
+        raise RuntimeError(error_message)
+
+    robots = {}
+    for robot_name in fleet_config.known_robots:
+        robot_config_yaml = config_yaml['rmf_fleet']['robots'][robot_name]
+        robot_config = fleet_config.get_known_robot_configuration(robot_name)
+
+        if 'navigation_stack' not in robot_config_yaml:
+            error_message = \
+                'Navigation stack must be defined to set up RobotAdapter'
+            node.get_logger().error(error_message)
+            raise RuntimeError(error_message)
+
+        nav_stack = robot_config_yaml['navigation_stack']
+        if nav_stack == 2:
+            robots[robot_name] = Nav2RobotAdapter(
+                robot_name,
+                robot_config,
+                robot_config_yaml,
+                node,
+                zenoh_session,
+                fleet_handle,
+                tf_buffer
+            )
+        elif nav_stack == 1:
+            robots[robot_name] = Nav1RobotAdapter(
+                robot_name,
+                robot_config,
+                robot_config_yaml,
+                node,
+                zenoh_session,
+                fleet_handle,
+                tf_buffer
+            )
+        else:
+            error_message = \
+                'Navigation stack can only be 1 (experimental) or 2'
+            node.get_logger().error(error_message)
+            raise RuntimeError(error_message)
+
+    update_period = 1.0/config_yaml['rmf_fleet'].get(
+        'robot_state_update_frequency', 10.0
+    )
+
+    def update_loop():
+        asyncio.set_event_loop(asyncio.new_event_loop())
+        while rclpy.ok():
+            now = node.get_clock().now()
+
+            # Update all the robots in parallel using a thread pool
+            update_jobs = []
+            for robot in robots.values():
+                update_jobs.append(update_robot(robot))
+
+            asyncio.get_event_loop().run_until_complete(
+                asyncio.wait(update_jobs)
+            )
+
+            next_wakeup = now + Duration(nanoseconds=update_period*1e9)
+            while node.get_clock().now() < next_wakeup:
+                time.sleep(0.001)
+
+    update_thread = threading.Thread(target=update_loop, args=())
+    update_thread.start()
+
+    # Create executor for the command handle node
+    rclpy_executor = rclpy.executors.SingleThreadedExecutor()
+    rclpy_executor.add_node(node)
+
+    # Start the fleet adapter
+    rclpy_executor.spin()
+
+    # Shutdown
+    node.destroy_node()
+    rclpy_executor.shutdown()
+    zenoh_session.close()
+
+
+# Parallel processing solution derived from
+# https://stackoverflow.com/a/59385935
+def parallel(f):
+    def run_in_parallel(*args, **kwargs):
+        return asyncio.get_event_loop().run_in_executor(
+            None, f, *args, **kwargs
+        )
+
+    return run_in_parallel
+
+
+@parallel
+def update_robot(robot: Nav1RobotAdapter | Nav2RobotAdapter):
+    robot_pose = robot.get_pose()
+    if robot_pose is None:
+        robot.node.get_logger().info(f'Failed to pose of robot [{robot.name}]')
+        return None
+
+    state = rmf_easy.RobotState(
+        robot.get_map_name(),
+        robot_pose,
+        robot.get_battery_soc()
+    )
+
+    if robot.update_handle is None:
+        robot.update_handle = robot.fleet_handle.add_robot(
+            robot.name,
+            state,
+            robot.configuration,
+            rmf_easy.RobotCallbacks(
+                lambda destination, execution: robot.navigate(
+                    destination, execution
+                ),
+                lambda activity: robot.stop(activity),
+                lambda category, description, execution: robot.execute_action(
+                    category, description, execution
+                )
+            )
+        )
+        return
+
+    robot.update(state)
+
+
+# ------------------------------------------------------------------------------
+# Main
+# ------------------------------------------------------------------------------
+def main(argv=sys.argv):
+    # Init rclpy
+    rclpy.init(args=argv)
+    args_without_ros = rclpy.utilities.remove_ros_args(argv)
+
+    parser = argparse.ArgumentParser(
+        prog='fleet_adapter',
+        description='Configure and spin up the fleet adapter')
+    parser.add_argument('-c', '--config_file', type=str, required=True,
+                        help='Path to the config.yaml file')
+    parser.add_argument('-n', '--nav_graph', type=str, required=True,
+                        help='Path to the nav_graph for this fleet adapter')
+    parser.add_argument('-s', '--server_uri', type=str, required=False,
+                        default='',
+                        help='URI of the api server to transmit state and '
+                             'task information.')
+    parser.add_argument('-sim', '--use_sim_time', action='store_true',
+                        help='Use sim time, default: false')
+    parser.add_argument(
+        '--zenoh-config',
+        type=str,
+        help='Path to custom zenoh configuration file to be used, if not '
+        'provided the default config will be used'
+    )
+    args = parser.parse_args(args_without_ros[1:])
+
+    start_fleet_adapter(
+        config_path=args.config_file,
+        nav_graph_path=args.nav_graph,
+        zenoh_config_path=args.zenoh_config
+        if args.zenoh_config != '' else None,
+        server_uri=args.server_uri if args.server_uri != '' else None,
+        use_sim_time=args.use_sim_time
+    )
+
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main(sys.argv)
diff --git a/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py
new file mode 100644
index 00000000..b0da5b9f
--- /dev/null
+++ b/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py
@@ -0,0 +1,595 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+from typing import Annotated
+
+from free_fleet.convert import transform_stamped_to_ros2_msg
+from free_fleet.ros1_types import (
+    BatteryState,
+    GoalID,
+    GoalStatus,
+    GoalStatusArray,
+    Header,
+    Point,
+    Pose,
+    PoseStamped,
+    Quaternion,
+    ROS1_STORE,
+    TFMessage,
+    Time,
+)
+from free_fleet.utils import (
+    get_zenoh_name_of_ros1_topic,
+    namespacify,
+)
+from free_fleet_adapter.robot_adapter import RobotAdapter
+
+from geometry_msgs.msg import TransformStamped
+import rclpy
+import rmf_adapter.easy_full_control as rmf_easy
+from rmf_adapter.robot_update_handle import ActivityIdentifier, Tier
+from tf_transformations import euler_from_quaternion, quaternion_from_euler
+
+import zenoh
+
+
+class Nav1TfHandler:
+
+    def __init__(self, robot_name, zenoh_session, tf_buffer, node):
+        self.robot_name = robot_name
+        self.zenoh_session = zenoh_session
+        self.node = node
+        self.tf_buffer = tf_buffer
+
+        def _tf_callback(sample: zenoh.Sample):
+            try:
+                transform = ROS1_STORE.deserialize_ros1(
+                    sample.payload.to_bytes(),
+                    TFMessage.type_name
+                )
+            except Exception as e:
+                self.node.get_logger().debug(
+                    f'Failed to deserialize TF payload: {type(e)}: {e}'
+                )
+                return None
+            for zt in transform.transforms:
+                t = transform_stamped_to_ros2_msg(zt)
+                t.header.frame_id = namespacify(zt.header.frame_id,
+                                                self.robot_name)
+                t.child_frame_id = namespacify(zt.child_frame_id,
+                                               self.robot_name)
+                self.tf_buffer.set_transform(
+                    t, f'{self.robot_name}_TfListener')
+
+        zenoh_topic = get_zenoh_name_of_ros1_topic(
+            ROS1_STORE,
+            topic=f"/{namespacify('tf', self.robot_name)}",
+            msg_type=TFMessage.type_name
+        )
+        self.tf_sub = self.zenoh_session.declare_subscriber(
+            zenoh_topic,
+            _tf_callback
+        )
+
+    def get_transform(self) -> TransformStamped | None:
+        try:
+            # TODO(ac): parameterize the frames for lookup
+            transform = self.tf_buffer.lookup_transform(
+                namespacify('map', self.robot_name),
+                namespacify('base_footprint', self.robot_name),
+                rclpy.time.Time()
+            )
+            return transform
+        except Exception as err:
+            self.node.get_logger().info(
+                'Unable to get transform between base_footprint and map: '
+                f'{type(err)}: {err}'
+            )
+        return None
+
+
+class Nav1MoveBaseHandler:
+
+    def __init__(self, robot_name, zenoh_session, node):
+        self.robot_name = robot_name
+        self.zenoh_session = zenoh_session
+        self.node = node
+
+        self.goal_status_array = None
+        self.active_goal_status = None
+        self.previous_goal_status = None
+        self._tmp_active_goal_id = None
+
+        def _move_base_status_callback(sample: zenoh.Sample):
+            try:
+                goal_status_array = ROS1_STORE.deserialize_ros1(
+                    sample.payload.to_bytes(),
+                    GoalStatusArray.type_name
+                )
+                self.goal_status_array = goal_status_array
+            except Exception as e:
+                self.node.get_logger().debug(
+                    f'Failed to deserialize GoalStatusArray payload: '
+                    f'{type(e)}: {e}'
+                )
+                return
+
+            active_goal_status = None
+            for goal_status in goal_status_array.status_list:
+                if goal_status.status == goal_status.ACTIVE:
+                    active_goal_status = goal_status
+                else:
+                    self.previous_goal_status = goal_status
+            self.active_goal_status = active_goal_status
+
+        self.move_base_status_zenoh_topic = get_zenoh_name_of_ros1_topic(
+            ROS1_STORE,
+            topic=f"/{namespacify('move_base/status', self.robot_name)}",
+            msg_type=GoalStatusArray.type_name
+        )
+        self.move_base_status_sub = self.zenoh_session.declare_subscriber(
+            self.move_base_status_zenoh_topic,
+            _move_base_status_callback
+        )
+
+        self.move_base_simple_goal_zenoh_topic = get_zenoh_name_of_ros1_topic(
+            ROS1_STORE,
+            topic=f"/{namespacify('move_base_simple/goal', self.robot_name)}",
+            msg_type=PoseStamped.type_name
+        )
+        self.move_base_simple_goal_pub = self.zenoh_session.declare_publisher(
+            self.move_base_simple_goal_zenoh_topic
+        )
+
+        self.move_base_cancel_goal_zenoh_topic = get_zenoh_name_of_ros1_topic(
+            ROS1_STORE,
+            topic=f"/{namespacify('move_base/cancel', self.robot_name)}",
+            msg_type=GoalID.type_name
+        )
+        self.move_base_cancel_goal_pub = self.zenoh_session.declare_publisher(
+            self.move_base_cancel_goal_zenoh_topic
+        )
+
+    def get_goal_status_array(self) -> GoalStatusArray.msg_type | None:
+        return self.goal_status_array
+
+    def get_goal_status(self, goal_id: str) -> GoalStatus.msg_type | None:
+        if self.active_goal_status is not None and \
+                self.active_goal_status.goal_id.id == goal_id:
+            return self.active_goal_status
+
+        if self.previous_goal_status is not None and \
+                self.previous_goal_status.goal_id.id == goal_id:
+            return self.previous_goal_status
+
+        return None
+
+    def get_active_goal_status(self) -> GoalStatus.msg_type | None:
+        return self.active_goal_status
+
+    def navigate_to_pose(
+        self,
+        x: float,
+        y: float,
+        z: float,
+        yaw: float,
+        timeout_sec: float = 3
+    ) -> str | None:
+        # Keep track of last status stamp to find the new goal status and ID
+        if self.goal_status_array is None:
+            self.node.get_logger().error(
+                'move_base/status has not yet been received over zenoh topic '
+                f'[{self.move_base_status_zenoh_topic}], unable to publish '
+                'navigate_to_pose.'
+            )
+            return None
+        last_status_stamp = self.goal_status_array.header.stamp
+
+        time_now = self.node.get_clock().now().seconds_nanoseconds()
+        stamp = Time.msg_type(sec=time_now[0], nanosec=time_now[1])
+        header = Header.msg_type(seq=0, stamp=stamp, frame_id='map')
+        position = Point.msg_type(x=x, y=y, z=z)
+        quat = quaternion_from_euler(0, 0, yaw)
+        orientation = Quaternion.msg_type(
+            x=quat[0],
+            y=quat[1],
+            z=quat[2],
+            w=quat[3]
+        )
+        pose = Pose.msg_type(position=position, orientation=orientation)
+        pose_stamped = PoseStamped.msg_type(header=header, pose=pose)
+
+        serialized_msg = ROS1_STORE.serialize_ros1(
+            pose_stamped,
+            PoseStamped.msg_type.__msgtype__
+        )
+        self.move_base_simple_goal_pub.put(serialized_msg.tobytes())
+        self.node.get_logger().info(
+            'Sending move_base_simple/goal, over zenoh topic '
+            f'[{self.move_base_simple_goal_zenoh_topic}]'
+        )
+
+        self._tmp_active_goal_id = None
+
+        def _get_goal_id_callback(sample: zenoh.Sample):
+            try:
+                goal_status_array = ROS1_STORE.deserialize_ros1(
+                    sample.payload.to_bytes(),
+                    GoalStatusArray.type_name
+                )
+                self.goal_status_array = goal_status_array
+            except Exception as e:
+                self.node.get_logger().debug(
+                    f'Failed to deserialize GoalStatusArray payload: '
+                    f'{type(e)}: {e}'
+                )
+                return None
+
+            for goal_status in goal_status_array.status_list:
+                goal_status_stamp = goal_status.goal_id.stamp
+                if goal_status.status == goal_status.ACTIVE and \
+                        goal_status_stamp.sec >= last_status_stamp.sec and \
+                        goal_status_stamp.nanosec >= last_status_stamp.nanosec:
+                    self._tmp_active_goal_id = goal_status.goal_id.id
+
+        move_base_status_sub = self.zenoh_session.declare_subscriber(
+            self.move_base_status_zenoh_topic,
+            _get_goal_id_callback
+        )
+
+        # Timeout to get move_base goal ID
+        sleep_time = timeout_sec / 10
+        for i in range(10):
+            if self._tmp_active_goal_id is not None:
+                break
+            time.sleep(sleep_time)
+
+        move_base_status_sub.undeclare()
+        return self._tmp_active_goal_id
+
+    def stop_current_navigation(self):
+        if self.active_goal_status is None:
+            return
+
+        goal_id = self.active_goal_status.goal_id
+        serialized_msg = ROS1_STORE.serialize_ros1(
+            goal_id,
+            GoalID.msg_type.__msgtype__
+        )
+        self.move_base_cancel_goal_pub.put(serialized_msg.tobytes())
+        self.node.get_logger().info(
+            'Sending move_base/cancel, over zenoh topic '
+            f'[{self.move_base_cancel_goal_zenoh_topic}], '
+            f'goal ID: [{goal_id}]'
+        )
+
+    def cancel_navigation(self, goal_id_str: str):
+        time_now = self.node.get_clock().now().seconds_nanoseconds()
+        stamp = Time.msg_type(sec=time_now[0], nanosec=time_now[1])
+        goal_id = GoalID.msg_type(stamp=stamp, id=goal_id_str)
+        serialized_msg = ROS1_STORE.serialize_ros1(
+            goal_id,
+            GoalID.msg_type.__msgtype__
+        )
+        self.move_base_cancel_goal_pub.put(serialized_msg.tobytes())
+        self.node.get_logger().info(
+            'Sending move_base/cancel, over zenoh topic '
+            f'[{self.move_base_cancel_goal_zenoh_topic}], '
+            f'goal ID: [{goal_id}]'
+        )
+
+
+class Nav1RobotAdapter(RobotAdapter):
+
+    def __init__(
+        self,
+        name: str,
+        configuration,
+        robot_config_yaml,
+        node,
+        zenoh_session,
+        fleet_handle,
+        tf_buffer
+    ):
+        RobotAdapter.__init__(self, name, node, fleet_handle)
+
+        self.execution = None
+        self.configuration = configuration
+        self.robot_config_yaml = robot_config_yaml
+        self.zenoh_session = zenoh_session
+        self.tf_buffer = tf_buffer
+
+        self.map_name = self.robot_config_yaml['initial_map']
+
+        # TODO(ac): Only use full battery if sim is indicated
+        self.battery_soc = 1.0
+
+        self.replan_counts = 0
+        self.nav_issue_ticket = None
+
+        self.tf_handler = Nav1TfHandler(
+            self.name,
+            self.zenoh_session,
+            self.tf_buffer,
+            self.node
+        )
+        self.move_base_handler = Nav1MoveBaseHandler(
+            self.name,
+            self.zenoh_session,
+            self.node
+        )
+        self.nav_goal_id = None
+
+        def _battery_state_callback(sample: zenoh.Sample):
+            try:
+                battery_state = ROS1_STORE.deserialize_ros1(
+                    sample.payload.to_bytes(),
+                    BatteryState.type_name
+                )
+            except Exception as e:
+                self.node.get_logger().debug(
+                    'Failed to deserialize BatteryState payload: '
+                    f'{type(e)}: {e}'
+                )
+                return
+            self.battery_soc = battery_state.percentage
+
+        battery_state_zenoh_topic = get_zenoh_name_of_ros1_topic(
+            ROS1_STORE,
+            topic=f"/{namespacify('battery_state', self.name)}",
+            msg_type=BatteryState.type_name
+        )
+        self.battery_state_sub = self.zenoh_session.declare_subscriber(
+            battery_state_zenoh_topic,
+            _battery_state_callback
+        )
+
+    def get_battery_soc(self) -> float:
+        return self.battery_soc
+
+    def get_map_name(self) -> str:
+        return self.map_name
+
+    def get_pose(self) -> Annotated[list[float], 3] | None:
+        transform = self.tf_handler.get_transform()
+        if transform is None:
+            error_message = \
+                f'Failed to update robot [{self.name}]: Unable to get ' \
+                f'transform between base_footprint and map'
+            self.node.get_logger().info(error_message)
+            return None
+
+        orientation = euler_from_quaternion([
+            transform.transform.rotation.x,
+            transform.transform.rotation.y,
+            transform.transform.rotation.z,
+            transform.transform.rotation.w
+        ])
+        robot_pose = [
+            transform.transform.translation.x,
+            transform.transform.translation.y,
+            orientation[2]
+        ]
+        return robot_pose
+
+    def _is_navigation_done(self) -> bool:
+        if self.nav_goal_id is None:
+            return True
+
+        nav_goal_id = self.nav_goal_id
+        goal_status = \
+            self.move_base_handler.get_goal_status(nav_goal_id)
+        if goal_status is None:
+            self.replan_counts += 1
+            self.node.get_logger().error(
+                f'Navigation goal {nav_goal_id} is not found, replan count '
+                f'[{self.replan_counts}]'
+            )
+            self.update_handle.more().replan()
+            return False
+
+        match goal_status.status:
+            case goal_status.PENDING | \
+                 goal_status.ACTIVE | \
+                 goal_status.PREEMPTING | \
+                 goal_status.RECALLING:
+                return False
+            case goal_status.SUCCEEDED:
+                self.node.get_logger().info(
+                    f'Navigation goal {nav_goal_id} reached'
+                )
+                if self.nav_issue_ticket is not None:
+                    msg = {}
+                    self.nav_issue_ticket.resolve(msg)
+                    self.nav_issue_ticket = None
+                    self.node.get_logger().info(
+                        'Navigation issue ticket has been resolved'
+                    )
+                return True
+            case goal_status.PREEMPTED:
+                self.node.get_logger().info(
+                    f'Navigation goal {nav_goal_id} was cancelled'
+                )
+                return True
+            case _:
+                self.nav_issue_ticket = self.create_nav_issue_ticket(
+                    'navigation',
+                    f'Navigate to pose result status [{goal_status.status}]',
+                    self.nav_goal_id
+                )
+
+                # TODO(ac): test replanning behavior if goal status is
+                # neither executing or succeeded
+                self.replan_counts += 1
+                self.node.get_logger().error(
+                    f'Navigation goal {nav_goal_id} status '
+                    f'{goal_status.status}, replan count '
+                    f'[{self.replan_counts}]'
+                )
+                self.update_handle.more().replan()
+                return False
+
+    # TODO(ac): issue ticket can be more generic for execute actions too
+    def create_nav_issue_ticket(self, category, msg, nav_goal_id=None):
+        if self.update_handle is None:
+            error_message = \
+                'Failed to create navigation issue ticket for robot ' \
+                f'{self.name}, robot adapter has not yet been initialized ' \
+                'with a fleet update handle.'
+            self.node.get_logger().error(error_message)
+            return None
+
+        tier = Tier.Error
+        detail = {
+            'nav_goal_id': f'{nav_goal_id}',
+            'message': msg
+        }
+        nav_issue_ticket = \
+            self.update_handle.more().create_issue(tier, category, detail)
+        self.node.get_logger().info(
+            f'Created [{category}] issue ticket for robot [{self.name}] with '
+            f'nav goal ID [{nav_goal_id}]')
+        return nav_issue_ticket
+
+    def update(self, state: rmf_easy.RobotState):
+        if self.update_handle is None:
+            error_message = \
+                f'Failed to update robot {self.name}, robot adapter has ' \
+                'not yet been initialized with a fleet update handle.'
+            self.node.get_logger().error(error_message)
+            return
+
+        activity_identifier = None
+        if self.execution:
+            if self.nav_goal_id is not None and self._is_navigation_done():
+                if self.execution is not None:
+                    self.execution.finished()
+                    self.execution = None
+                self.nav_goal_id = None
+                self.replan_counts = 0
+            else:
+                activity_identifier = self.execution.identifier
+
+        self.update_handle.update(state, activity_identifier)
+
+    def _handle_navigate_to_pose(
+        self,
+        map_name: str,
+        x: float,
+        y: float,
+        z: float,
+        yaw: float,
+        timeout_sec: float = 3.0
+    ):
+        if map_name != self.map_name:
+            # TODO(ac): test this map related replanning behavior
+            self.replan_counts += 1
+            self.node.get_logger().error(
+                f'Destination is on map [{map_name}], while robot '
+                f'[{self.name}] is on map [{self.map_name}], replan count '
+                f'[{self.replan_counts}]'
+            )
+
+            if self.update_handle is None:
+                error_message = \
+                    f'Failed to replan for robot {self.name}, robot adapter ' \
+                    'has not yet been initialized with a fleet update handle.'
+                self.node.get_logger().error(error_message)
+                return
+            self.update_handle.more().replan()
+            return
+
+        nav_goal_id = self.move_base_handler.navigate_to_pose(
+            x,
+            y,
+            z,
+            yaw,
+            timeout_sec
+        )
+
+        if nav_goal_id is not None:
+            self.node.get_logger().info(
+                f'Navigation goal {nav_goal_id} accepted'
+            )
+            self.nav_goal_id = nav_goal_id
+            return
+
+        self.replan_counts += 1
+        self.node.get_logger().error(
+            f'Navigation goal {nav_goal_id} was rejected, replan '
+            f'count [{self.replan_counts}]'
+        )
+        if self.update_handle is None:
+            error_message = \
+                f'Failed to replan for robot {self.name}, robot adapter has ' \
+                'not yet been initialized with a fleet update handle.'
+            self.node.get_logger().error(error_message)
+            return
+        self.update_handle.more().replan()
+        self.nav_goal_id = None
+
+    def navigate(
+        self,
+        destination: rmf_easy.Destination,
+        execution: rmf_easy.CommandExecution
+    ):
+        self.execution = execution
+        self.node.get_logger().info(
+            f'Commanding [{self.name}] to navigate to {destination.position}'
+            f' on map [{destination.map}]'
+        )
+        self._handle_navigate_to_pose(
+            destination.map,
+            destination.position[0],
+            destination.position[1],
+            0.0,
+            destination.position[2]
+        )
+
+    def _handle_stop_navigation(self):
+        self.move_base_handler.stop_current_navigation()
+
+    def stop(self, activity: ActivityIdentifier):
+        if self.execution is None:
+            return
+
+        if self.execution.identifier.is_same(activity):
+            self.execution = None
+            # TODO(ac): check what is the type of execution when we start
+            # supporting something other than navigation
+
+            if self.nav_goal_id is not None:
+                self._handle_stop_navigation()
+                # TODO(ac): check return code before setting nav_goal_id to
+                # None
+                self.nav_goal_id = None
+
+    def execute_action(
+        self,
+        category: str,
+        description: dict,
+        execution: ActivityIdentifier
+    ):
+        # TODO(ac): change map using map_server load_map, and set initial
+        # position again with /initialpose
+        # TODO(ac): docking
+        # We should never reach this point after initialization.
+        error_message = \
+            f'Execute action [{category}] is unsupported, this might be a ' \
+            'configuration error.'
+        self.node.get_logger().error(error_message)
+        raise RuntimeError(error_message)
diff --git a/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
new file mode 100644
index 00000000..a80f1467
--- /dev/null
+++ b/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
@@ -0,0 +1,437 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Annotated
+
+from free_fleet.convert import transform_stamped_to_ros2_msg
+from free_fleet.ros2_types import (
+    ActionMsgs_CancelGoal_Response,
+    GeometryMsgs_Point,
+    GeometryMsgs_Pose,
+    GeometryMsgs_PoseStamped,
+    GeometryMsgs_Quaternion,
+    GoalStatus,
+    Header,
+    NavigateToPose_GetResult_Request,
+    NavigateToPose_GetResult_Response,
+    NavigateToPose_SendGoal_Request,
+    NavigateToPose_SendGoal_Response,
+    SensorMsgs_BatteryState,
+    TFMessage,
+    Time,
+)
+from free_fleet.utils import (
+    make_nav2_cancel_all_goals_request,
+    namespacify,
+)
+from free_fleet_adapter.robot_adapter import RobotAdapter
+
+from geometry_msgs.msg import TransformStamped
+import numpy as np
+import rclpy
+import rmf_adapter.easy_full_control as rmf_easy
+from rmf_adapter.robot_update_handle import ActivityIdentifier, Tier
+from tf_transformations import euler_from_quaternion, quaternion_from_euler
+
+import zenoh
+
+
+class Nav2TfHandler:
+
+    def __init__(self, robot_name, zenoh_session, tf_buffer, node):
+        self.robot_name = robot_name
+        self.zenoh_session = zenoh_session
+        self.node = node
+        self.tf_buffer = tf_buffer
+
+        def _tf_callback(sample: zenoh.Sample):
+            try:
+                transform = TFMessage.deserialize(sample.payload.to_bytes())
+            except Exception as e:
+                self.node.get_logger().debug(
+                    f'Failed to deserialize TF payload: {type(e)}: {e}'
+                )
+                return None
+            for zt in transform.transforms:
+                t = transform_stamped_to_ros2_msg(zt)
+                t.header.frame_id = namespacify(zt.header.frame_id,
+                                                self.robot_name)
+                t.child_frame_id = namespacify(zt.child_frame_id,
+                                               self.robot_name)
+                self.tf_buffer.set_transform(
+                    t, f'{self.robot_name}_TfListener')
+
+        self.tf_sub = self.zenoh_session.declare_subscriber(
+            namespacify('tf', self.robot_name),
+            _tf_callback
+        )
+
+    def get_transform(self) -> TransformStamped | None:
+        try:
+            # TODO(ac): parameterize the frames for lookup
+            transform = self.tf_buffer.lookup_transform(
+                namespacify('map', self.robot_name),
+                namespacify('base_footprint', self.robot_name),
+                rclpy.time.Time()
+            )
+            return transform
+        except Exception as err:
+            self.node.get_logger().info(
+                'Unable to get transform between base_footprint and map: '
+                f'{type(err)}: {err}'
+            )
+        return None
+
+
+class Nav2RobotAdapter(RobotAdapter):
+
+    def __init__(
+        self,
+        name: str,
+        configuration,
+        robot_config_yaml,
+        node,
+        zenoh_session,
+        fleet_handle,
+        tf_buffer
+    ):
+        RobotAdapter.__init__(self, name, node, fleet_handle)
+
+        self.execution = None
+        self.configuration = configuration
+        self.robot_config_yaml = robot_config_yaml
+        self.zenoh_session = zenoh_session
+        self.tf_buffer = tf_buffer
+
+        self.nav_goal_id = None
+        self.map_name = self.robot_config_yaml['initial_map']
+
+        # TODO(ac): Only use full battery if sim is indicated
+        self.battery_soc = 1.0
+
+        self.replan_counts = 0
+        self.nav_issue_ticket = None
+
+        self.tf_handler = Nav2TfHandler(
+            self.name,
+            self.zenoh_session,
+            self.tf_buffer,
+            self.node
+        )
+
+        def _battery_state_callback(sample: zenoh.Sample):
+            battery_state = SensorMsgs_BatteryState.deserialize(
+                sample.payload.to_bytes()
+            )
+            self.battery_soc = battery_state.percentage
+
+        self.battery_state_sub = self.zenoh_session.declare_subscriber(
+            namespacify('battery_state', name),
+            _battery_state_callback
+        )
+
+    def get_battery_soc(self) -> float:
+        return self.battery_soc
+
+    def get_map_name(self) -> str:
+        return self.map_name
+
+    def get_pose(self) -> Annotated[list[float], 3] | None:
+        transform = self.tf_handler.get_transform()
+        if transform is None:
+            error_message = \
+                f'Failed to update robot [{self.name}]: Unable to get ' \
+                f'transform between base_footprint and map'
+            self.node.get_logger().info(error_message)
+            return None
+
+        orientation = euler_from_quaternion([
+            transform.transform.rotation.x,
+            transform.transform.rotation.y,
+            transform.transform.rotation.z,
+            transform.transform.rotation.w
+        ])
+        robot_pose = [
+            transform.transform.translation.x,
+            transform.transform.translation.y,
+            orientation[2]
+        ]
+        return robot_pose
+
+    def _is_navigation_done(self) -> bool:
+        if self.nav_goal_id is None:
+            return True
+
+        req = NavigateToPose_GetResult_Request(goal_id=self.nav_goal_id)
+        # TODO(ac): parameterize the service call timeout
+        replies = self.zenoh_session.get(
+            namespacify('navigate_to_pose/_action/get_result', self.name),
+            payload=req.serialize(),
+            # timeout=0.5
+        )
+        for reply in replies:
+            try:
+                # Deserialize the response
+                rep = NavigateToPose_GetResult_Response.deserialize(
+                    reply.ok.payload.to_bytes()
+                )
+                self.node.get_logger().debug(f'Result: {rep.status}')
+                match rep.status:
+                    case GoalStatus.STATUS_EXECUTING.value | \
+                         GoalStatus.STATUS_ACCEPTED.value | \
+                         GoalStatus.STATUS_CANCELING.value:
+                        return False
+                    case GoalStatus.STATUS_SUCCEEDED.value:
+                        self.node.get_logger().info(
+                            f'Navigation goal {self.nav_goal_id} reached'
+                        )
+                        if self.nav_issue_ticket is not None:
+                            msg = {}
+                            self.nav_issue_ticket.resolve(msg)
+                            self.nav_issue_ticket = None
+                            self.node.get_logger().info(
+                                'Navigation issue ticket has been resolved'
+                            )
+                        return True
+                    case GoalStatus.STATUS_CANCELED.value:
+                        self.node.get_logger().info(
+                            f'Navigation goal {self.nav_goal_id} was cancelled'
+                        )
+                        return True
+                    case _:
+                        self.nav_issue_ticket = self.create_nav_issue_ticket(
+                            'navigation',
+                            f'Navigate to pose result status [{rep.status}]',
+                            self.nav_goal_id
+                        )
+
+                        # TODO(ac): test replanning behavior if goal status is
+                        # neither executing or succeeded
+                        self.replan_counts += 1
+                        self.node.get_logger().error(
+                            f'Navigation goal {self.nav_goal_id} status '
+                            f'{rep.status}, replan count '
+                            f'[{self.replan_counts}]'
+                        )
+                        self.update_handle.more().replan()
+                        return False
+            except Exception as e:
+                self.node.get_logger().debug(
+                    f'Received (ERROR: "{reply.err.payload.to_string()}"): '
+                    f'{type(e)}: {e}')
+                continue
+
+    # TODO(ac): issue ticket can be more generic for execute actions too
+    def create_nav_issue_ticket(self, category, msg, nav_goal_id=None):
+        if self.update_handle is None:
+            error_message = \
+                'Failed to create navigation issue ticket for robot ' \
+                f'{self.name}, robot adapter has not yet been initialized ' \
+                'with a fleet update handle.'
+            self.node.get_logger().error(error_message)
+            return None
+
+        tier = Tier.Error
+        detail = {
+            'nav_goal_id': f'{nav_goal_id}',
+            'message': msg
+        }
+        nav_issue_ticket = \
+            self.update_handle.more().create_issue(tier, category, detail)
+        self.node.get_logger().info(
+            f'Created [{category}] issue ticket for robot [{self.name}] with '
+            f'nav goal ID [{nav_goal_id}]')
+        return nav_issue_ticket
+
+    def update(self, state: rmf_easy.RobotState):
+        if self.update_handle is None:
+            error_message = \
+                f'Failed to update robot {self.name}, robot adapter has not ' \
+                'yet been initialized with a fleet update handle.'
+            self.node.get_logger().error(error_message)
+            return
+
+        activity_identifier = None
+        if self.execution:
+            # TODO(ac): use an enum to record what type of execution it is,
+            # whether navigation or custom executions
+            if self.nav_goal_id is not None and self._is_navigation_done():
+                # TODO(ac): Refactor this check as as self._is_navigation_done
+                # takes a while and the execution may have become None due to
+                # task cancellation.
+                if self.execution is not None:
+                    self.execution.finished()
+                    self.execution = None
+                self.nav_goal_id = None
+                self.replan_counts = 0
+            else:
+                activity_identifier = self.execution.identifier
+
+        self.update_handle.update(state, activity_identifier)
+
+    def _handle_navigate_to_pose(
+        self,
+        map_name: str,
+        x: float,
+        y: float,
+        z: float,
+        yaw: float
+    ):
+        if map_name != self.map_name:
+            # TODO(ac): test this map related replanning behavior
+            self.replan_counts += 1
+            self.node.get_logger().error(
+                f'Destination is on map [{map_name}], while robot '
+                f'[{self.name}] is on map [{self.map_name}], replan count '
+                f'[{self.replan_counts}]'
+            )
+
+            if self.update_handle is None:
+                error_message = \
+                    f'Failed to replan for robot {self.name}, robot adapter ' \
+                    'has not yet been initialized with a fleet update handle.'
+                self.node.get_logger().error(error_message)
+                return
+            self.update_handle.more().replan()
+            return
+
+        time_now = self.node.get_clock().now().seconds_nanoseconds()
+        stamp = Time(sec=time_now[0], nanosec=time_now[1])
+        header = Header(stamp=stamp, frame_id='map')
+        position = GeometryMsgs_Point(x=x, y=y, z=z)
+        quat = quaternion_from_euler(0, 0, yaw)
+        orientation = GeometryMsgs_Quaternion(
+            x=quat[0],
+            y=quat[1],
+            z=quat[2],
+            w=quat[3]
+        )
+        pose = GeometryMsgs_Pose(position=position, orientation=orientation)
+        pose_stamped = GeometryMsgs_PoseStamped(header=header, pose=pose)
+
+        nav_goal_id = \
+            np.random.randint(0, 255, size=(16)).astype('uint8').tolist()
+        req = NavigateToPose_SendGoal_Request(
+            goal_id=nav_goal_id,
+            pose=pose_stamped,
+            behavior_tree=''
+        )
+
+        replies = self.zenoh_session.get(
+            namespacify('navigate_to_pose/_action/send_goal', self.name),
+            payload=req.serialize(),
+            # timeout=0.5
+        )
+
+        for reply in replies:
+            try:
+                rep = NavigateToPose_SendGoal_Response.deserialize(
+                    reply.ok.payload.to_bytes())
+                if rep.accepted:
+                    self.node.get_logger().info(
+                        f'Navigation goal {nav_goal_id} accepted'
+                    )
+                    self.nav_goal_id = nav_goal_id
+                    return
+
+                self.replan_counts += 1
+                self.node.get_logger().error(
+                    f'Navigation goal {nav_goal_id} was rejected, replan '
+                    f'count [{self.replan_counts}]'
+                )
+                if self.update_handle is None:
+                    error_message = \
+                        f'Failed to replan for robot {self.name}, robot ' \
+                        'adapter has not yet been initialized with a fleet ' \
+                        'update handle.'
+                    self.node.get_logger().error(error_message)
+                    return
+                self.update_handle.more().replan()
+                self.nav_goal_id = None
+                return
+            except Exception as e:
+                payload = reply.err.payload.to_string()
+                self.node.get_logger().error(
+                    f'Received (ERROR: {payload}: {type(e)}: {e})'
+                )
+                continue
+
+    def navigate(
+        self,
+        destination: rmf_easy.Destination,
+        execution: rmf_easy.CommandExecution
+    ):
+        self.execution = execution
+        self.node.get_logger().info(
+            f'Commanding [{self.name}] to navigate to {destination.position} '
+            f'on map [{destination.map}]'
+        )
+        self._handle_navigate_to_pose(
+            destination.map,
+            destination.position[0],
+            destination.position[1],
+            0.0,
+            destination.position[2]
+        )
+
+    def _handle_stop_navigation(self):
+        req = make_nav2_cancel_all_goals_request()
+        replies = self.zenoh_session.get(
+            namespacify(
+                'navigate_to_pose/_action/cancel_goal',
+                self.name,
+            ),
+            payload=req.serialize(),
+            # timeout=0.5
+        )
+        for reply in replies:
+            rep = ActionMsgs_CancelGoal_Response.deserialize(
+                reply.ok.payload.to_bytes()
+            )
+            self.node.get_logger().info(
+                'Return code: %d' % rep.return_code
+            )
+
+    def stop(self, activity: ActivityIdentifier):
+        if self.execution is None:
+            return
+
+        if self.execution.identifier.is_same(activity):
+            self.execution = None
+            # TODO(ac): check what is the type of execution when we start
+            # supporting something other than navigation
+
+            if self.nav_goal_id is not None:
+                self._handle_stop_navigation()
+                # TODO(ac): check return code before setting nav_goal_id to
+                # None
+                self.nav_goal_id = None
+
+    def execute_action(
+        self,
+        category: str,
+        description: dict,
+        execution: ActivityIdentifier
+    ):
+        # TODO(ac): change map using map_server load_map, and set initial
+        # position again with /initialpose
+        # TODO(ac): docking
+        # We should never reach this point after initialization.
+        error_message = \
+            f'Execute action [{category}] is unsupported, this might be a ' \
+            'configuration error.'
+        self.node.get_logger().error(error_message)
+        raise RuntimeError(error_message)
diff --git a/free_fleet_adapter/free_fleet_adapter/robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/robot_adapter.py
new file mode 100644
index 00000000..91a34261
--- /dev/null
+++ b/free_fleet_adapter/free_fleet_adapter/robot_adapter.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from abc import ABC, abstractmethod
+from typing import Annotated
+
+import rmf_adapter.easy_full_control as rmf_easy
+from rmf_adapter.robot_update_handle import ActivityIdentifier
+
+
+class RobotAdapter(ABC):
+    """Abstract Robot Adapter to be used by the free fleet adapter."""
+
+    def __init__(
+        self,
+        name: str,
+        node,
+        fleet_handle
+    ):
+        self.name = name
+        self.node = node
+        self.fleet_handle = fleet_handle
+        self.update_handle = None
+
+    """
+    This method returns the battery state of charge as a float, with value
+    between 0 and 1.0.
+    """
+    @abstractmethod
+    def get_battery_soc(self) -> float:
+        ...
+
+    """
+    This method returns the name of the current map that the robot is
+    localized on.
+    """
+    @abstractmethod
+    def get_map_name(self) -> str:
+        ...
+
+    """
+    This method returns the last known 2D position in meters and orientation
+    (yaw) of the robot in radians as a list of 3 floats, in the form of
+    [x, y, yaw]. If the last known position of the robot is not available,
+    returns None.
+    """
+    @abstractmethod
+    def get_pose(self) -> Annotated[list[float], 3] | None:
+        ...
+
+    """
+    This method is called to update RMF with the latest robot state.
+    """
+    @abstractmethod
+    def update(self, state: rmf_easy.RobotState):
+        ...
+
+    """
+    This method is called to send a navigation command to the robot.
+    """
+    @abstractmethod
+    def navigate(
+        self,
+        destination: rmf_easy.Destination,
+        execution: rmf_easy.CommandExecution
+    ):
+        ...
+
+    """
+    This method is called to stop the execution/continuation of the provided
+    activity.
+    """
+    @abstractmethod
+    def stop(self, activity: ActivityIdentifier):
+        ...
+
+    """
+    This method is called to send a custom action command to the robot.
+    """
+    @abstractmethod
+    def execute_action(
+        self,
+        category: str,
+        description: dict,
+        execution: ActivityIdentifier
+    ):
+        ...
diff --git a/free_fleet_adapter/launch/fleet_adapter.launch.xml b/free_fleet_adapter/launch/fleet_adapter.launch.xml
new file mode 100644
index 00000000..258b4161
--- /dev/null
+++ b/free_fleet_adapter/launch/fleet_adapter.launch.xml
@@ -0,0 +1,23 @@
+<?xml version='1.0' ?>
+
+<launch>
+
+  <arg name="use_sim_time" default="true" description="Use the /clock topic for time to sync with simulation"/>
+  <arg name="config_file" description="The config file that provides important parameters for setting up the adapter"/>
+  <arg name="nav_graph_file" description="The graph that this fleet should use for navigation"/>
+  <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
+  <arg name="output" default="screen"/>
+
+  <let name="use_sim_time_flag" if="$(var use_sim_time)" value=" -sim"/>
+  <let name="use_sim_time_flag" unless="$(var use_sim_time)" value=""/>
+
+  <!-- Fleet adapter -->
+  <node pkg="free_fleet_adapter"
+        exec="fleet_adapter.py"
+        args="-c $(var config_file) -n $(var nav_graph_file) -s $(var server_uri)$(var use_sim_time_flag)"
+        output="both">
+    <param name="use_sim_time" value="$(var use_sim_time)"/>
+    <param name="server_uri" value="$(var server_uri)"/>
+  </node>
+
+</launch>
diff --git a/free_fleet_adapter/package.xml b/free_fleet_adapter/package.xml
new file mode 100644
index 00000000..970fba30
--- /dev/null
+++ b/free_fleet_adapter/package.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>free_fleet_adapter</name>
+  <version>2.0.0</version>
+  <description>Free fleet Open-RMF fleet adapter based on fleet_adapter_template</description>
+  <maintainer email="aaronchong@intrinsic.ai">Aaron Chong</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>launch_xml</exec_depend>
+
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
+
+  <exec_depend>free_fleet</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>rmf_fleet_adapter_python</exec_depend>
+  <exec_depend>rmf_fleet_msgs</exec_depend>
+  <exec_depend>rmf_task_msgs</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>tf_transformations</exec_depend>
+
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/free_fleet_adapter/resource/free_fleet_adapter b/free_fleet_adapter/resource/free_fleet_adapter
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet_adapter/tests/__init__.py b/free_fleet_adapter/tests/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet_adapter/tests/integration/__init__.py b/free_fleet_adapter/tests/integration/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet_adapter/tests/integration/test_nav1_move_base_handler.py b/free_fleet_adapter/tests/integration/test_nav1_move_base_handler.py
new file mode 100644
index 00000000..d261f2db
--- /dev/null
+++ b/free_fleet_adapter/tests/integration/test_nav1_move_base_handler.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+import unittest
+
+from free_fleet_adapter.nav1_robot_adapter import Nav1MoveBaseHandler
+import rclpy
+
+import zenoh
+
+
+class TestNav1MoveBaseHandler(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node('test_nav1_move_base_handler')
+        cls.zenoh_session = zenoh.open(zenoh.Config())
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        cls.zenoh_session.close()
+        rclpy.shutdown()
+
+    def test_move_base_statuses_do_not_exist(self):
+        move_base_handler = Nav1MoveBaseHandler(
+            'missing_nav1_tb3', self.zenoh_session, self.node
+        )
+
+        statuses_exists = False
+        for i in range(10):
+            goal_status_array = move_base_handler.get_goal_status_array()
+            if goal_status_array is not None:
+                statuses_exists = True
+                break
+            time.sleep(1)
+
+        assert not statuses_exists
+
+    def test_command_status_and_cancel(self):
+        move_base_handler = Nav1MoveBaseHandler(
+            'nav1_tb3', self.zenoh_session, self.node
+        )
+
+        status_array = None
+        for i in range(10):
+            status_array = move_base_handler.get_goal_status_array()
+            if status_array is not None:
+                break
+            time.sleep(1)
+        assert status_array is not None
+        assert len(status_array.status_list) == 0
+
+        active_goal_status = move_base_handler.get_active_goal_status()
+        assert active_goal_status is None
+
+        # Longer timeout during testing
+        goal_id = move_base_handler.navigate_to_pose(
+            x=-1.6,
+            y=0.5,
+            z=0.0,
+            yaw=0.0,
+            timeout_sec=5.0
+        )
+        assert goal_id is not None
+
+        status_array = None
+        for i in range(10):
+            status_array = move_base_handler.get_goal_status_array()
+            if len(status_array.status_list) == 1 \
+                and status_array.status_list[0].status == \
+                    status_array.status_list[0].ACTIVE:
+                break
+            time.sleep(1)
+        assert len(status_array.status_list) == 1
+
+        assert status_array.status_list[0].status == \
+            status_array.status_list[0].ACTIVE
+
+        active_goal_status = move_base_handler.get_active_goal_status()
+        assert active_goal_status is not None
+        assert status_array.status_list[0] == active_goal_status
+        assert active_goal_status.goal_id.id == goal_id
+
+        move_base_handler.stop_navigation()
+        for i in range(10):
+            active_goal_status = move_base_handler.get_active_goal_status()
+            if active_goal_status is None:
+                break
+            time.sleep(1)
+        assert active_goal_status is None
diff --git a/free_fleet_adapter/tests/integration/test_nav1_robot_adapter.py b/free_fleet_adapter/tests/integration/test_nav1_robot_adapter.py
new file mode 100644
index 00000000..d9f8d153
--- /dev/null
+++ b/free_fleet_adapter/tests/integration/test_nav1_robot_adapter.py
@@ -0,0 +1,264 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import math
+import time
+import unittest
+
+from free_fleet_adapter.nav1_robot_adapter import Nav1RobotAdapter
+import rclpy
+from tf2_ros import Buffer
+
+import zenoh
+
+
+class TestNav1RobotAdapter(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node('test_nav1_robot_adapter')
+        cls.zenoh_session = zenoh.open(zenoh.Config())
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        cls.zenoh_session.close()
+        rclpy.shutdown()
+
+    def test_non_existent_robot_pose(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='missing_nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is None
+
+    def test_robot_pose(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is not None
+
+    def test_robot_battery_soc(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is not None
+
+        battery_soc = robot_adapter.get_battery_soc()
+        assert math.isclose(battery_soc, 1.0)
+
+    def test_idle_robot_navigate_is_done(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is not None
+        assert robot_adapter._is_navigation_done()
+
+    def test_robot_stop_without_command(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is not None
+        assert robot_adapter.execution is None
+        robot_adapter.stop(None)
+        assert robot_adapter.execution is None
+        assert robot_adapter._is_navigation_done()
+
+    def test_robot_handle_navigate_to_invalid_map(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is not None
+
+        prev_replan_count = robot_adapter.replan_counts
+        robot_adapter._handle_navigate_to_pose(
+            'invalid_map',
+            0.0,
+            1.0,
+            2.0,
+            0.0
+        )
+        assert robot_adapter.replan_counts == prev_replan_count + 1
+
+    def test_robot_handle_navigate_to_pose(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is not None
+
+        robot_adapter._handle_navigate_to_pose(
+            'L1',
+            -1.8,
+            -0.5,
+            0.0,
+            0.0,
+            5.0
+        )
+        assert not robot_adapter._is_navigation_done()
+        time.sleep(5)
+        assert robot_adapter._is_navigation_done()
+
+    def test_robot_stop_navigate(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is not None
+
+        robot_adapter._handle_navigate_to_pose(
+            'L1',
+            1.808,
+            0.503,
+            0.0,
+            0.0,
+            5.0
+        )
+        assert robot_adapter.nav_goal_id is not None
+        assert not robot_adapter._is_navigation_done()
+        time.sleep(1)
+        robot_adapter._handle_stop_navigation()
+        time.sleep(1)
+        assert robot_adapter._is_navigation_done()
+
+    def test_robot_execute_unknown_action(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav1RobotAdapter(
+            name='nav1_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        able_to_execute_action = False
+        try:
+            robot_adapter.execute_action(
+                'unknown_category',
+                {},
+                None
+            )
+            able_to_execute_action = True
+        except RuntimeError:
+            able_to_execute_action = False
+        assert not able_to_execute_action
diff --git a/free_fleet_adapter/tests/integration/test_nav1_tf_handler.py b/free_fleet_adapter/tests/integration/test_nav1_tf_handler.py
new file mode 100644
index 00000000..694fa83c
--- /dev/null
+++ b/free_fleet_adapter/tests/integration/test_nav1_tf_handler.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+import unittest
+
+from free_fleet_adapter.nav1_robot_adapter import Nav1TfHandler
+import rclpy
+from tf2_ros import Buffer
+
+import zenoh
+
+
+class TestNav1TfHandler(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node('test_nav1_tf_handler')
+        cls.zenoh_session = zenoh.open(zenoh.Config())
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        cls.zenoh_session.close()
+        rclpy.shutdown()
+
+    def test_tf_does_not_exist(self):
+        tf_buffer = Buffer()
+
+        tf_handler = Nav1TfHandler(
+            'missing_nav1_tb3', self.zenoh_session, tf_buffer, self.node
+        )
+
+        time.sleep(2)
+        transform = tf_handler.get_transform()
+        assert transform is None
+
+    def test_tf_exists(self):
+        tf_buffer = Buffer()
+
+        tf_handler = Nav1TfHandler(
+            'nav1_tb3', self.zenoh_session, tf_buffer, self.node
+        )
+
+        time.sleep(2)
+        transform = tf_handler.get_transform()
+        assert transform is not None
diff --git a/free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py b/free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py
new file mode 100644
index 00000000..0c9c9285
--- /dev/null
+++ b/free_fleet_adapter/tests/integration/test_nav2_robot_adapter.py
@@ -0,0 +1,236 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import math
+import time
+import unittest
+
+from free_fleet_adapter.nav2_robot_adapter import Nav2RobotAdapter
+import rclpy
+from tf2_ros import Buffer
+
+import zenoh
+
+
+class TestNav2RobotAdapter(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node('test_nav2_robot_adapter')
+        cls.zenoh_session = zenoh.open(zenoh.Config())
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        cls.zenoh_session.close()
+        rclpy.shutdown()
+
+    def test_non_existent_robot_pose(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='missing_nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is None
+
+    def test_robot_pose(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        time.sleep(2)
+        transform = robot_adapter.get_pose()
+        assert transform is not None
+
+    def test_robot_battery_soc(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        battery_soc = robot_adapter.get_battery_soc()
+        assert math.isclose(battery_soc, 1.0)
+
+    def test_idle_robot_navigate_is_done(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+        assert robot_adapter._is_navigation_done()
+
+    def test_robot_stop_without_command(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+        assert robot_adapter.execution is None
+        robot_adapter.stop(None)
+        assert robot_adapter.execution is None
+        assert robot_adapter._is_navigation_done()
+
+    def test_robot_handle_navigate_to_invalid_map(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        prev_replan_count = robot_adapter.replan_counts
+        robot_adapter._handle_navigate_to_pose(
+            'invalid_map',
+            0.0,
+            1.0,
+            2.0,
+            0.0
+        )
+        assert robot_adapter.replan_counts == prev_replan_count + 1
+
+    def test_robot_handle_navigate_to_pose(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        robot_adapter._handle_navigate_to_pose(
+            'L1',
+            -0.395,
+            -0.606,
+            0.0,
+            0.0
+        )
+        time.sleep(5)
+        assert robot_adapter._is_navigation_done()
+
+    def test_robot_stop_navigate(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        robot_adapter._handle_navigate_to_pose(
+            'L1',
+            1.808,
+            0.503,
+            0.0,
+            0.0
+        )
+        assert not robot_adapter._is_navigation_done()
+        time.sleep(1)
+        robot_adapter._handle_stop_navigation()
+        time.sleep(1)
+        assert robot_adapter._is_navigation_done()
+
+    def test_robot_execute_unknown_action(self):
+        tf_buffer = Buffer()
+
+        robot_adapter = Nav2RobotAdapter(
+            name='nav2_tb3',
+            configuration=None,
+            robot_config_yaml={
+                'initial_map': 'L1',
+            },
+            node=self.node,
+            zenoh_session=self.zenoh_session,
+            fleet_handle=None,
+            tf_buffer=tf_buffer
+        )
+
+        able_to_execute_action = False
+        try:
+            robot_adapter.execute_action(
+                'unknown_category',
+                {},
+                None
+            )
+            able_to_execute_action = True
+        except RuntimeError:
+            able_to_execute_action = False
+        assert not able_to_execute_action
diff --git a/free_fleet_adapter/tests/integration/test_nav2_tf_handler.py b/free_fleet_adapter/tests/integration/test_nav2_tf_handler.py
new file mode 100644
index 00000000..c8c66fbc
--- /dev/null
+++ b/free_fleet_adapter/tests/integration/test_nav2_tf_handler.py
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import time
+import unittest
+
+from free_fleet_adapter.nav2_robot_adapter import Nav2TfHandler
+import rclpy
+from tf2_ros import Buffer
+
+import zenoh
+
+
+class TestNav2TfHandler(unittest.TestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.node = rclpy.create_node('test_nav2_tf_handler')
+        cls.zenoh_session = zenoh.open(zenoh.Config())
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.node.destroy_node()
+        cls.zenoh_session.close()
+        rclpy.shutdown()
+
+    def test_tf_does_not_exist(self):
+        tf_buffer = Buffer()
+
+        tf_handler = Nav2TfHandler(
+            'missing_nav2_tb3', self.zenoh_session, tf_buffer, self.node
+        )
+
+        time.sleep(2)
+        transform = tf_handler.get_transform()
+        assert transform is None
+
+    def test_tf_exists(self):
+        tf_buffer = Buffer()
+
+        tf_handler = Nav2TfHandler(
+            'nav2_tb3', self.zenoh_session, tf_buffer, self.node
+        )
+
+        time.sleep(2)
+        transform = tf_handler.get_transform()
+        assert transform is not None
diff --git a/free_fleet_adapter/tests/test_copyright.py b/free_fleet_adapter/tests/test_copyright.py
new file mode 100644
index 00000000..cc8ff03f
--- /dev/null
+++ b/free_fleet_adapter/tests/test_copyright.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/free_fleet_adapter/tests/test_flake8.py b/free_fleet_adapter/tests/test_flake8.py
new file mode 100644
index 00000000..26030113
--- /dev/null
+++ b/free_fleet_adapter/tests/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, 'Found %d code style errors / warnings:\n' % len(
+        errors
+    ) + '\n'.join(errors)
diff --git a/free_fleet_adapter/tests/test_pep257.py b/free_fleet_adapter/tests/test_pep257.py
new file mode 100644
index 00000000..b234a384
--- /dev/null
+++ b/free_fleet_adapter/tests/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/free_fleet_client_ros1/CHANGELOG.rst b/free_fleet_client_ros1/CHANGELOG.rst
deleted file mode 100644
index 5bd6ec18..00000000
--- a/free_fleet_client_ros1/CHANGELOG.rst
+++ /dev/null
@@ -1,11 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package free_fleet_client_ros1
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Forthcoming
------------
-
-1.0.0 (2020-06-11)
-------------------
-* Provides the ROS 1 implementation of a free fleet client that works directly with a move_base action service running on the robot. 
-* Contributors: Aaron Chong
diff --git a/free_fleet_client_ros1/CMakeLists.txt b/free_fleet_client_ros1/CMakeLists.txt
deleted file mode 100644
index e5617233..00000000
--- a/free_fleet_client_ros1/CMakeLists.txt
+++ /dev/null
@@ -1,86 +0,0 @@
-cmake_minimum_required(VERSION 3.5.0)
-
-project(free_fleet_client_ros1 LANGUAGES C CXX)
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # we dont use add_compile_options with pedantic in message packages
-  # because the Python C extensions dont comply with it
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
-endif()
-
-include(GNUInstallDirs)
-
-#===============================================================================
-
-find_package(catkin QUIET COMPONENTS
-  roscpp
-  std_srvs
-  sensor_msgs
-  tf2
-  tf2_ros
-  tf2_geometry_msgs
-  actionlib
-  move_base_msgs
-)
-
-if (catkin_FOUND)
-
-  find_package(free_fleet REQUIRED)
-
-  catkin_package()
-
-  #=============================================================================
-
-  add_executable(free_fleet_client_ros1
-    src/main.cpp
-    src/utilities.cpp
-    src/ClientNode.cpp
-    src/ClientNodeConfig.cpp
-  )
-  target_link_libraries(free_fleet_client_ros1
-    ${free_fleet_LIBRARIES}
-    ${catkin_LIBRARIES}
-  )
-  target_include_directories(free_fleet_client_ros1
-    PRIVATE
-      ${free_fleet_INCLUDE_DIRS}
-      ${catkin_INCLUDE_DIRS}
-  )
-
-  #=============================================================================
-
-  set(testing_targets
-    fake_action_server
-    fake_docking_server
-  )
-  
-  foreach(target ${testing_targets})
-    add_executable(${target}
-      src/tests/${target}.cpp
-    )
-    target_link_libraries(${target}
-      ${catkin_LIBRARIES}
-    )
-    target_include_directories(${target}
-      PRIVATE
-        ${catkin_INCLUDE_DIRS}
-    )
-  endforeach()
-  
-  #=============================================================================
-
-  install(
-    TARGETS
-      free_fleet_client_ros1
-      ${testing_targets}
-    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
-
-else()
-  message("catkin not found so skipping this ROS1 package")
-endif()
diff --git a/free_fleet_client_ros1/package.xml b/free_fleet_client_ros1/package.xml
deleted file mode 100644
index 8837d288..00000000
--- a/free_fleet_client_ros1/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>free_fleet_client_ros1</name>
-  <version>1.3.0</version>
-  <description>Free Fleet client ROS 1 wrapper</description>
-  <maintainer email="morgan@openrobotics.org">Morgan Quigley</maintainer>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
-  <license>Apache 2.0</license>
-  <author email="morgan@openrobotics.org">Morgan Quigley</author>
-  <author email="aaron@openrobotics.org">Aaron Chong</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
-  <depend>std_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>tf2</depend>
-  <depend>tf2_ros</depend>
-  <depend>tf2_geometry_msgs</depend>
-  <depend>actionlib</depend>
-  <depend>move_base_msgs</depend>
-
-  <depend>free_fleet</depend>
-</package>
diff --git a/free_fleet_client_ros1/src/ClientNode.cpp b/free_fleet_client_ros1/src/ClientNode.cpp
deleted file mode 100644
index 3fe26a6d..00000000
--- a/free_fleet_client_ros1/src/ClientNode.cpp
+++ /dev/null
@@ -1,562 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "utilities.hpp"
-#include "ClientNode.hpp"
-#include "ClientNodeConfig.hpp"
-
-namespace free_fleet
-{
-namespace ros1
-{
-
-ClientNode::SharedPtr ClientNode::make(const ClientNodeConfig& _config)
-{
-  SharedPtr client_node = SharedPtr(new ClientNode(_config));
-  client_node->node.reset(new ros::NodeHandle(_config.robot_name + "_node"));
-
-  /// Starting the free fleet client
-  ClientConfig client_config = _config.get_client_config();
-  Client::SharedPtr client = Client::make(client_config);
-  if (!client)
-    return nullptr;
-
-  /// Setting up the move base action client, wait for server
-  ROS_INFO("waiting for connection with move base action server: %s",
-      _config.move_base_server_name.c_str());
-  MoveBaseClientSharedPtr move_base_client(
-      new MoveBaseClient(_config.move_base_server_name, true));
-  if (!move_base_client->waitForServer(ros::Duration(_config.wait_timeout)))
-  {
-    ROS_ERROR("timed out waiting for action server: %s",
-        _config.move_base_server_name.c_str());
-    return nullptr;
-  }
-  ROS_INFO("connected with move base action server: %s",
-      _config.move_base_server_name.c_str());
-
-  /// Setting up the docking server client, if required, wait for server
-  std::unique_ptr<ros::ServiceClient> docking_trigger_client = nullptr;
-  if (_config.docking_trigger_server_name != "")
-  {
-    docking_trigger_client =
-      std::make_unique<ros::ServiceClient>(
-        client_node->node->serviceClient<std_srvs::Trigger>(
-          _config.docking_trigger_server_name, true));
-    if (!docking_trigger_client->waitForExistence(
-      ros::Duration(_config.wait_timeout)))
-    {
-      ROS_ERROR("timed out waiting for docking trigger server: %s",
-        _config.docking_trigger_server_name.c_str());
-      return nullptr;
-    }
-  }
-
-  client_node->start(Fields{
-      std::move(client),
-      std::move(move_base_client),
-      std::move(docking_trigger_client)
-  });
-
-  return client_node;
-}
-
-ClientNode::ClientNode(const ClientNodeConfig& _config) :
-  tf2_listener(tf2_buffer),
-  client_node_config(_config)
-{}
-
-ClientNode::~ClientNode()
-{
-  if (update_thread.joinable())
-  {
-    update_thread.join();
-    ROS_INFO("Client: update_thread joined.");
-  }
-
-  if (publish_thread.joinable())
-  {
-    publish_thread.join();
-    ROS_INFO("Client: publish_thread joined.");
-  }
-}
-
-void ClientNode::start(Fields _fields)
-{
-  fields = std::move(_fields);
-
-  update_rate.reset(new ros::Rate(client_node_config.update_frequency));
-  publish_rate.reset(new ros::Rate(client_node_config.publish_frequency));
-
-  battery_percent_sub = node->subscribe(
-      client_node_config.battery_state_topic, 1,
-      &ClientNode::battery_state_callback_fn, this);
-
-  request_error = false;
-  emergency = false;
-  paused = false;
-
-  ROS_INFO("Client: starting update thread.");
-  update_thread = std::thread(std::bind(&ClientNode::update_thread_fn, this));
-
-  ROS_INFO("Client: starting publish thread.");
-  publish_thread = 
-      std::thread(std::bind(&ClientNode::publish_thread_fn, this));
-}
-
-void ClientNode::print_config()
-{
-  client_node_config.print_config();
-}
-
-void ClientNode::battery_state_callback_fn(
-    const sensor_msgs::BatteryState& _msg)
-{
-  WriteLock battery_state_lock(battery_state_mutex);
-  current_battery_state = _msg;
-}
-
-bool ClientNode::get_robot_transform()
-{
-  try {
-    geometry_msgs::TransformStamped tmp_transform_stamped = 
-        tf2_buffer.lookupTransform(
-            client_node_config.map_frame,
-            client_node_config.robot_frame,
-            ros::Time(0));
-    WriteLock robot_transform_lock(robot_transform_mutex);
-    previous_robot_transform = current_robot_transform;
-    current_robot_transform = tmp_transform_stamped;
-  }
-  catch (tf2::TransformException &ex) {
-    ROS_WARN("%s", ex.what());
-    return false;
-  }
-  return true;
-}
-
-messages::RobotMode ClientNode::get_robot_mode()
-{
-  /// Checks if robot has just received a request that causes an adapter error
-  if (request_error)
-    return messages::RobotMode{messages::RobotMode::MODE_REQUEST_ERROR};
-
-  /// Checks if robot is under emergency
-  if (emergency)
-    return messages::RobotMode{messages::RobotMode::MODE_EMERGENCY};
-
-  /// Checks if robot is charging
-  {
-    ReadLock battery_state_lock(battery_state_mutex);
-
-    if (current_battery_state.power_supply_status ==
-        current_battery_state.POWER_SUPPLY_STATUS_CHARGING)
-      return messages::RobotMode{messages::RobotMode::MODE_CHARGING};
-  }
-
-  /// Checks if robot is moving
-  {
-    ReadLock robot_transform_lock(robot_transform_mutex);
-
-    if (!is_transform_close(
-        current_robot_transform, previous_robot_transform))
-      return messages::RobotMode{messages::RobotMode::MODE_MOVING};
-  }
-  
-  /// Otherwise, robot is neither charging nor moving,
-  /// Checks if the robot is paused
-  if (paused)
-    return messages::RobotMode{messages::RobotMode::MODE_PAUSED};
-
-  /// Otherwise, robot has queued tasks, it is paused or waiting,
-  /// default to use pausing for now
-  return messages::RobotMode{messages::RobotMode::MODE_IDLE};
-}
-
-void ClientNode::publish_robot_state()
-{
-  messages::RobotState new_robot_state;
-  new_robot_state.name = client_node_config.robot_name;
-  new_robot_state.model = client_node_config.robot_model;
-
-  {
-    ReadLock task_id_lock(task_id_mutex);
-    new_robot_state.task_id = current_task_id;    
-  }
-
-  new_robot_state.mode = get_robot_mode();
-
-  {
-    ReadLock battery_state_lock(battery_state_mutex);
-    /// RMF expects battery to have a percentage in the range for 0-100.
-    /// sensor_msgs/BatteryInfo on the other hand returns a value in 
-    /// the range of 0-1
-    new_robot_state.battery_percent = 100*current_battery_state.percentage;
-  }
-
-  {
-    ReadLock robot_transform_lock(robot_transform_mutex);
-    new_robot_state.location.sec = current_robot_transform.header.stamp.sec;
-    new_robot_state.location.nanosec = 
-        current_robot_transform.header.stamp.nsec;
-    new_robot_state.location.x = 
-        current_robot_transform.transform.translation.x;
-    new_robot_state.location.y = 
-        current_robot_transform.transform.translation.y;
-    new_robot_state.location.yaw = 
-        get_yaw_from_transform(current_robot_transform);
-    new_robot_state.location.level_name = client_node_config.level_name;
-  }
-
-  new_robot_state.path.clear();
-  {
-    ReadLock goal_path_lock(goal_path_mutex);
-
-    for (size_t i = 0; i < goal_path.size(); ++i)
-    {
-      new_robot_state.path.push_back(
-          messages::Location{
-              (int32_t)goal_path[i].goal.target_pose.header.stamp.sec,
-              goal_path[i].goal.target_pose.header.stamp.nsec,
-              (float)goal_path[i].goal.target_pose.pose.position.x,
-              (float)goal_path[i].goal.target_pose.pose.position.y,
-              (float)(get_yaw_from_quat(
-                  goal_path[i].goal.target_pose.pose.orientation)),
-              goal_path[i].level_name
-          });
-    }
-  }
-
-  if (!fields.client->send_robot_state(new_robot_state))
-    ROS_WARN("failed to send robot state: msg sec %u", new_robot_state.location.sec);
-}
-
-bool ClientNode::is_valid_request(
-    const std::string& _request_fleet_name,
-    const std::string& _request_robot_name,
-    const std::string& _request_task_id)
-{
-  ReadLock task_id_lock(task_id_mutex);
-  if (current_task_id == _request_task_id ||
-      client_node_config.robot_name != _request_robot_name ||
-      client_node_config.fleet_name != _request_fleet_name)
-    return false;
-  return true;
-}
-
-move_base_msgs::MoveBaseGoal ClientNode::location_to_move_base_goal(
-    const messages::Location& _location) const
-{
-  move_base_msgs::MoveBaseGoal goal;
-  goal.target_pose.header.frame_id = client_node_config.map_frame;
-  goal.target_pose.header.stamp.sec = _location.sec;
-  goal.target_pose.header.stamp.nsec = _location.nanosec;
-  goal.target_pose.pose.position.x = _location.x;
-  goal.target_pose.pose.position.y = _location.y;
-  goal.target_pose.pose.position.z = 0.0; // TODO: handle Z height with level
-  goal.target_pose.pose.orientation = get_quat_from_yaw(_location.yaw);
-  return goal;
-}
-
-bool ClientNode::read_mode_request()
-{
-  messages::ModeRequest mode_request;
-  if (fields.client->read_mode_request(mode_request) && 
-      is_valid_request(
-          mode_request.fleet_name, mode_request.robot_name, 
-          mode_request.task_id))
-  {
-    if (mode_request.mode.mode == messages::RobotMode::MODE_PAUSED)
-    {
-      ROS_INFO("received a PAUSE command.");
-
-      fields.move_base_client->cancelAllGoals();
-      WriteLock goal_path_lock(goal_path_mutex);
-      if (!goal_path.empty())
-        goal_path[0].sent = false;
-
-      paused = true;
-      emergency = false;
-    }
-    else if (mode_request.mode.mode == messages::RobotMode::MODE_MOVING)
-    {
-      ROS_INFO("received an explicit RESUME command.");
-      paused = false;
-      emergency = false;
-    }
-    else if (mode_request.mode.mode == messages::RobotMode::MODE_EMERGENCY)
-    {
-      ROS_INFO("received an EMERGENCY command.");
-      paused = false;
-      emergency = true;
-    }
-    else if (mode_request.mode.mode == messages::RobotMode::MODE_DOCKING)
-    {
-      ROS_INFO("received a DOCKING command.");
-      if (fields.docking_trigger_client &&
-        fields.docking_trigger_client->isValid())
-      {
-        std_srvs::Trigger trigger_srv;
-        fields.docking_trigger_client->call(trigger_srv);
-        if (!trigger_srv.response.success)
-        {
-          ROS_ERROR("Failed to trigger docking sequence, message: %s.",
-            trigger_srv.response.message.c_str());
-          request_error = true;
-          return false;
-        }
-      }
-    }
-
-    WriteLock task_id_lock(task_id_mutex);
-    current_task_id = mode_request.task_id;
-
-    request_error = false;
-    return true;
-  }
-  return false;
-}
-
-bool ClientNode::read_path_request()
-{
-  messages::PathRequest path_request;
-  if (fields.client->read_path_request(path_request) &&
-      is_valid_request(
-          path_request.fleet_name, path_request.robot_name,
-          path_request.task_id))
-  {
-    ROS_INFO("received a Path command of size %lu.", path_request.path.size());
-
-    if (path_request.path.size() <= 0)
-      return false;
-
-    // Sanity check: the first waypoint of the Path must be within N meters of
-    // our current position. Otherwise, ignore the request.
-    {
-      ReadLock robot_transform_lock(robot_transform_mutex);
-      const double dx =
-          path_request.path[0].x - 
-          current_robot_transform.transform.translation.x;
-      const double dy =
-          path_request.path[0].y -
-          current_robot_transform.transform.translation.y;
-      const double dist_to_first_waypoint = sqrt(dx*dx + dy*dy);
-
-      ROS_INFO("distance to first waypoint: %.2f\n", dist_to_first_waypoint);
-
-      if (dist_to_first_waypoint > 
-          client_node_config.max_dist_to_first_waypoint)
-      {
-        ROS_WARN("distance was over threshold of %.2f ! Rejecting path,"
-            "waiting for next valid request.\n",
-            client_node_config.max_dist_to_first_waypoint);
-        
-        fields.move_base_client->cancelAllGoals();
-        WriteLock goal_path_lock(goal_path_mutex);
-        goal_path.clear();
-
-        request_error = true;
-        emergency = false;
-        paused = false;
-        return false;
-      }
-    }
-
-    WriteLock goal_path_lock(goal_path_mutex);
-    goal_path.clear();
-    for (size_t i = 0; i < path_request.path.size(); ++i)
-    {
-      goal_path.push_back(
-          Goal {
-              path_request.path[i].level_name,
-              location_to_move_base_goal(path_request.path[i]),
-              false,
-              0,
-              ros::Time(
-                  path_request.path[i].sec, path_request.path[i].nanosec)});
-    }
-
-    WriteLock task_id_lock(task_id_mutex);
-    current_task_id = path_request.task_id;
-
-    if (paused)
-      paused = false;
-
-    request_error = false;
-    return true;
-  }
-  return false;
-}
-
-bool ClientNode::read_destination_request()
-{
-  messages::DestinationRequest destination_request;
-  if (fields.client->read_destination_request(destination_request) &&
-      is_valid_request(
-          destination_request.fleet_name, destination_request.robot_name,
-          destination_request.task_id))
-  {
-    ROS_INFO("received a Destination command, x: %.2f, y: %.2f, yaw: %.2f",
-        destination_request.destination.x, destination_request.destination.y,
-        destination_request.destination.yaw);
-    
-    WriteLock goal_path_lock(goal_path_mutex);
-    goal_path.clear();
-    goal_path.push_back(
-        Goal {
-            destination_request.destination.level_name,
-            location_to_move_base_goal(destination_request.destination),
-            false,
-            0,
-            ros::Time(
-                destination_request.destination.sec, 
-                destination_request.destination.nanosec)});
-
-    WriteLock task_id_lock(task_id_mutex);
-    current_task_id = destination_request.task_id;
-
-    if (paused)
-      paused = false;
-
-    request_error = false;
-    return true;
-  }
-  return false;
-}
-
-void ClientNode::read_requests()
-{
-  if (read_mode_request() || 
-      read_path_request() || 
-      read_destination_request())
-    return;
-}
-
-void ClientNode::handle_requests()
-{
-  // there is an emergency or the robot is paused
-  if (emergency || request_error || paused)
-    return;
-
-  // ooooh we have goals
-  WriteLock goal_path_lock(goal_path_mutex);
-  if (!goal_path.empty())
-  {
-    // Goals must have been updated since last handling, execute them now
-    if (!goal_path.front().sent)
-    {
-      ROS_INFO("sending next goal.");
-      fields.move_base_client->sendGoal(goal_path.front().goal);
-      goal_path.front().sent = true;
-      return;
-    }
-
-    // Goals have been sent, check the goal states now
-    GoalState current_goal_state = fields.move_base_client->getState();
-    if (current_goal_state == GoalState::SUCCEEDED)
-    {
-      ROS_INFO("current goal state: SUCCEEEDED.");
-
-      // By some stroke of good fortune, we may have arrived at our goal
-      // earlier than we were scheduled to reach it. If that is the case,
-      // we need to wait here until it's time to proceed.
-      if (ros::Time::now() >= goal_path.front().goal_end_time)
-      {
-        goal_path.pop_front();
-      }
-      else
-      {
-        ros::Duration wait_time_remaining =
-            goal_path.front().goal_end_time - ros::Time::now();
-        ROS_INFO(
-            "we reached our goal early! Waiting %.1f more seconds",
-            wait_time_remaining.toSec());
-      }
-      return;
-    }
-    else if (current_goal_state == GoalState::ACTIVE)
-    {
-      return;
-    }
-    else if (current_goal_state == GoalState::ABORTED)
-    {
-      goal_path.front().aborted_count++;
-
-      // TODO: parameterize the maximum number of retries.
-      if (goal_path.front().aborted_count < 5)
-      {
-        ROS_INFO("robot's navigation stack has aborted the current goal %d "
-            "times, client will trying again...",
-            goal_path.front().aborted_count);
-        fields.move_base_client->cancelGoal();
-        goal_path.front().sent = false;
-        return;
-      }
-      else
-      {
-        ROS_INFO("robot's navigation stack has aborted the current goal %d "
-            "times, please check that there is nothing in the way of the "
-            "robot, client will abort the current path request, and await "
-            "further requests.",
-            goal_path.front().aborted_count);
-        fields.move_base_client->cancelGoal();
-        goal_path.clear();
-        return;
-      }
-    }
-    else
-    {
-      ROS_INFO("Undesirable goal state: %s",
-          current_goal_state.toString().c_str());
-      ROS_INFO("Client will abort the current path request, and await further "
-          "requests or manual intervention.");
-      fields.move_base_client->cancelGoal();
-      goal_path.clear();
-      return;
-    }
-  }
-  
-  // otherwise, mode is correct, nothing in queue, nothing else to do then
-}
-
-void ClientNode::update_thread_fn()
-{
-  while (node->ok())
-  {
-    update_rate->sleep();
-    ros::spinOnce();
-
-    get_robot_transform();
-
-    read_requests();
-
-    handle_requests();
-  }
-}
-
-void ClientNode::publish_thread_fn()
-{
-  while (node->ok())
-  {
-    publish_rate->sleep();
-
-    publish_robot_state();
-  }
-}
-
-} // namespace ros1
-} // namespace free_fleet
diff --git a/free_fleet_client_ros1/src/ClientNode.hpp b/free_fleet_client_ros1/src/ClientNode.hpp
deleted file mode 100644
index f9d47699..00000000
--- a/free_fleet_client_ros1/src/ClientNode.hpp
+++ /dev/null
@@ -1,201 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET_CLIENT_ROS1__SRC__CLIENTNODE_HPP
-#define FREE_FLEET_CLIENT_ROS1__SRC__CLIENTNODE_HPP
-
-#include <deque>
-#include <mutex>
-#include <atomic>
-#include <memory>
-#include <thread>
-#include <vector>
-
-#include <ros/ros.h>
-#include <std_msgs/String.h>
-#include <std_srvs/Trigger.h>
-#include <sensor_msgs/BatteryState.h>
-#include <tf2_ros/transform_listener.h>
-#include <geometry_msgs/TransformStamped.h>
-
-#include <move_base_msgs/MoveBaseGoal.h>
-#include <move_base_msgs/MoveBaseAction.h>
-#include <actionlib/client/simple_action_client.h>
-
-#include <free_fleet/Client.hpp>
-#include <free_fleet/messages/Location.hpp>
-
-#include "ClientNodeConfig.hpp"
-
-namespace free_fleet
-{
-namespace ros1
-{
-
-class ClientNode
-{
-public:
-
-  using SharedPtr = std::shared_ptr<ClientNode>;
-  using ReadLock = std::unique_lock<std::mutex>;
-  using WriteLock = std::unique_lock<std::mutex>;
-
-  using MoveBaseClient = 
-      actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>;
-  using MoveBaseClientSharedPtr = std::shared_ptr<MoveBaseClient>;
-  using GoalState = actionlib::SimpleClientGoalState;
-
-  static SharedPtr make(const ClientNodeConfig& config);
-
-  ~ClientNode();
-
-  struct Fields
-  {
-    /// Free fleet client
-    Client::SharedPtr client;
-
-    /// move base action client
-    MoveBaseClientSharedPtr move_base_client;
-
-    /// Docking server client
-    std::unique_ptr<ros::ServiceClient> docking_trigger_client;
-  };
-
-  void print_config();
-
-private:
-
-  // --------------------------------------------------------------------------
-  // Basic ROS 1 items
-
-  std::unique_ptr<ros::NodeHandle> node;
-
-  std::unique_ptr<ros::Rate> update_rate;
-
-  std::unique_ptr<ros::Rate> publish_rate;
-
-  // --------------------------------------------------------------------------
-  // Battery handling
-
-  ros::Subscriber battery_percent_sub;
-
-  std::mutex battery_state_mutex;
-
-  sensor_msgs::BatteryState current_battery_state;
-
-  void battery_state_callback_fn(const sensor_msgs::BatteryState& msg);
-
-  // --------------------------------------------------------------------------
-  // Robot transform handling
-
-  tf2_ros::Buffer tf2_buffer;
-
-  tf2_ros::TransformListener tf2_listener;
-
-  std::mutex robot_transform_mutex;
-
-  geometry_msgs::TransformStamped current_robot_transform;
-
-  geometry_msgs::TransformStamped previous_robot_transform;
-
-  bool get_robot_transform();
-
-  // --------------------------------------------------------------------------
-  // Mode handling
-
-  // TODO: conditions to trigger emergency, however this is most likely for
-  // indicating emergency within the fleet and not in RMF
-  // TODO: figure out a better way to handle multiple triggered modes
-  std::atomic<bool> request_error;
-  std::atomic<bool> emergency;
-  std::atomic<bool> paused;
-
-  messages::RobotMode get_robot_mode();
-
-  bool read_mode_request();
-
-  // --------------------------------------------------------------------------
-  // Path request handling
-
-  bool read_path_request();
-
-  // --------------------------------------------------------------------------
-  // Destination request handling
-
-  bool read_destination_request();
-
-  // --------------------------------------------------------------------------
-  // Task handling
-
-  bool is_valid_request(
-      const std::string& request_fleet_name,
-      const std::string& request_robot_name,
-      const std::string& request_task_id);
-
-  move_base_msgs::MoveBaseGoal location_to_move_base_goal(
-      const messages::Location& location) const;
-
-  std::mutex task_id_mutex;
-
-  std::string current_task_id;
-
-  struct Goal
-  {
-    std::string level_name;
-    move_base_msgs::MoveBaseGoal goal;
-    bool sent = false;
-    uint32_t aborted_count = 0;
-    ros::Time goal_end_time;
-  };
-
-  std::mutex goal_path_mutex;
-
-  std::deque<Goal> goal_path;
-
-  void read_requests();
-
-  void handle_requests();
-
-  void publish_robot_state();
-
-  // --------------------------------------------------------------------------
-  // Threads and thread functions
-
-  std::thread update_thread;
-
-  std::thread publish_thread;
-
-  void update_thread_fn();
-
-  void publish_thread_fn();
-
-  // --------------------------------------------------------------------------
-
-  ClientNodeConfig client_node_config;
-
-  Fields fields;
-
-  ClientNode(const ClientNodeConfig& config);
-
-  void start(Fields fields);
-
-};
-
-} // namespace ros1
-} // namespace free_fleet
-
-#endif // FREE_FLEET_CLIENT_ROS1__SRC__CLIENTNODE_HPP
diff --git a/free_fleet_client_ros1/src/ClientNodeConfig.cpp b/free_fleet_client_ros1/src/ClientNodeConfig.cpp
deleted file mode 100644
index f318f209..00000000
--- a/free_fleet_client_ros1/src/ClientNodeConfig.cpp
+++ /dev/null
@@ -1,149 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <cstdio>
-
-#include "ClientNodeConfig.hpp"
-
-namespace free_fleet
-{
-namespace ros1
-{
-
-void ClientNodeConfig::get_param_if_available(
-    const ros::NodeHandle& _node, const std::string& _key,
-    std::string& _param_out)
-{
-  std::string tmp_param;
-  if (_node.getParam(_key, tmp_param))
-  {
-    ROS_INFO("Found %s on the parameter server. Setting %s to %s", 
-        _key.c_str(), _key.c_str(), tmp_param.c_str());
-    _param_out = tmp_param;
-  }
-}
-
-void ClientNodeConfig::get_param_if_available(
-    const ros::NodeHandle& _node, const std::string& _key,
-    int& _param_out)
-{
-  int tmp_param;
-  if (_node.getParam(_key, tmp_param))
-  {
-    ROS_INFO("Found %s on the parameter server. Setting %s to %d.",
-        _key.c_str(), _key.c_str(), tmp_param);
-    _param_out = tmp_param;
-  }
-}
-
-void ClientNodeConfig::get_param_if_available(
-    const ros::NodeHandle& _node, const std::string& _key,
-    double& _param_out)
-{
-  double tmp_param;
-  if (_node.getParam(_key, tmp_param))
-  {
-    ROS_INFO("Found %s on the parameter server. Setting %s to %.2f.",
-        _key.c_str(), _key.c_str(), tmp_param);
-    _param_out = tmp_param;
-  }
-}
-
-void ClientNodeConfig::print_config() const
-{
-  printf("ROS 1 CLIENT CONFIGURATION\n");
-  printf("  fleet name: %s\n", fleet_name.c_str());
-  printf("  robot name: %s\n", robot_name.c_str());
-  printf("  robot model: %s\n", robot_model.c_str());
-  printf("  level name: %s\n", level_name.c_str());
-  printf("  wait timeout: %.1f\n", wait_timeout);
-  printf("  update request frequency: %.1f\n", update_frequency);
-  printf("  publish state frequency: %.1f\n", publish_frequency);
-  printf("  maximum distance to first waypoint: %.1f\n", 
-      max_dist_to_first_waypoint);
-  printf("  TOPICS\n");
-  printf("    battery state: %s\n", battery_state_topic.c_str());
-  printf("    move base server: %s\n", move_base_server_name.c_str());
-  printf("    docking trigger server: %s\n", docking_trigger_server_name.c_str());
-  printf("  ROBOT FRAMES\n");
-  printf("    map frame: %s\n", map_frame.c_str());
-  printf("    robot frame: %s\n", robot_frame.c_str());
-  printf("CLIENT-SERVER DDS CONFIGURATION\n");
-  printf("  dds domain: %d\n", dds_domain);
-  printf("  TOPICS\n");
-  printf("    robot state: %s\n", dds_state_topic.c_str());
-  printf("    mode request: %s\n", dds_mode_request_topic.c_str());
-  printf("    path request: %s\n", dds_path_request_topic.c_str());
-  printf("    destination request: %s\n", 
-      dds_destination_request_topic.c_str());
-}
-  
-ClientConfig ClientNodeConfig::get_client_config() const
-{
-  ClientConfig client_config;
-  client_config.dds_domain = dds_domain;
-  client_config.dds_state_topic = dds_state_topic;
-  client_config.dds_mode_request_topic = dds_mode_request_topic;
-  client_config.dds_path_request_topic = dds_path_request_topic;
-  client_config.dds_destination_request_topic = dds_destination_request_topic;
-  return client_config;
-}
-
-ClientNodeConfig ClientNodeConfig::make()
-{
-  ClientNodeConfig config;
-  ros::NodeHandle node_private_ns("~");
-  config.get_param_if_available(
-      node_private_ns, "fleet_name", config.fleet_name);
-  config.get_param_if_available(
-      node_private_ns, "robot_name", config.robot_name);
-  config.get_param_if_available(
-      node_private_ns, "robot_model", config.robot_model);
-  config.get_param_if_available(
-      node_private_ns, "level_name", config.level_name);
-  config.get_param_if_available(
-      node_private_ns, "battery_state_topic", config.battery_state_topic);
-  config.get_param_if_available(node_private_ns, "map_frame", config.map_frame);
-  config.get_param_if_available(
-      node_private_ns, "robot_frame", config.robot_frame);
-  config.get_param_if_available(
-      node_private_ns, "move_base_server_name", config.move_base_server_name);
-  config.get_param_if_available(
-      node_private_ns, "docking_trigger_server_name", config.docking_trigger_server_name);
-  config.get_param_if_available(
-      node_private_ns, "dds_domain", config.dds_domain);
-  config.get_param_if_available(
-      node_private_ns, "dds_mode_request_topic", config.dds_mode_request_topic);
-  config.get_param_if_available(
-      node_private_ns, "dds_path_request_topic", config.dds_path_request_topic);
-  config.get_param_if_available(
-      node_private_ns, "dds_destination_request_topic", 
-      config.dds_destination_request_topic);
-  config.get_param_if_available(
-      node_private_ns, "wait_timeout", config.wait_timeout);
-  config.get_param_if_available(
-      node_private_ns, "update_frequency", config.update_frequency);
-  config.get_param_if_available(
-      node_private_ns, "publish_frequency", config.publish_frequency);
-  config.get_param_if_available(
-      node_private_ns, "max_dist_to_first_waypoint", 
-      config.max_dist_to_first_waypoint);
-  return config;
-}
-
-} // namespace ros1
-} // namespace free_fleet
diff --git a/free_fleet_client_ros1/src/ClientNodeConfig.hpp b/free_fleet_client_ros1/src/ClientNodeConfig.hpp
deleted file mode 100644
index e93621bc..00000000
--- a/free_fleet_client_ros1/src/ClientNodeConfig.hpp
+++ /dev/null
@@ -1,84 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET_CLIENT_ROS1__SRC__CLIENTNODECONFIG_HPP
-#define FREE_FLEET_CLIENT_ROS1__SRC__CLIENTNODECONFIG_HPP
-
-#include <string>
-
-#include <ros/ros.h>
-
-#include <free_fleet/ClientConfig.hpp>
-
-namespace free_fleet
-{
-namespace ros1
-{
-
-struct ClientNodeConfig
-{
-
-  std::string fleet_name = "fleet_name";
-  std::string robot_name = "robot_name";
-  std::string robot_model = "robot_model";
-  std::string level_name = "level_name";
-
-  std::string battery_state_topic = "/battery_state";
-
-  std::string map_frame = "map";
-  std::string robot_frame = "base_footprint";
-
-  std::string move_base_server_name = "move_base";
-
-  std::string docking_trigger_server_name = "";
-
-  int dds_domain = 42;
-  std::string dds_state_topic = "robot_state";
-  std::string dds_mode_request_topic = "mode_request";
-  std::string dds_path_request_topic = "path_request";
-  std::string dds_destination_request_topic = "destination_request";
-
-  double wait_timeout = 10.0;
-  double update_frequency = 10.0;
-  double publish_frequency = 1.0;
-
-  double max_dist_to_first_waypoint = 10.0;
-
-  void get_param_if_available(
-      const ros::NodeHandle& node, const std::string& key, 
-      std::string& param_out);
-
-  void get_param_if_available(
-      const ros::NodeHandle& node, const std::string& key,
-      int& param_out);
-
-  void get_param_if_available(
-      const ros::NodeHandle& node, const std::string& key,
-      double& param_out);
-
-  void print_config() const;
-
-  ClientConfig get_client_config() const;
-
-  static ClientNodeConfig make();
-
-};
-
-} // namespace ros1
-} // namespace free_fleet
-
-#endif // FREE_FLEET_CLIENT_ROS1__SRC__CLIENTNODECONFIG_HPP
diff --git a/free_fleet_client_ros1/src/main.cpp b/free_fleet_client_ros1/src/main.cpp
deleted file mode 100644
index f27d5cfd..00000000
--- a/free_fleet_client_ros1/src/main.cpp
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "ClientNodeConfig.hpp"
-#include "ClientNode.hpp"
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "free_fleet_client_ros1");
-  ros::NodeHandle ros_node_handle;
-  ROS_INFO("Greetings from free_fleet_client_ros1");
-
-  auto config = free_fleet::ros1::ClientNodeConfig::make();
-
-  auto client_node = free_fleet::ros1::ClientNode::make(config);
-
-  if (!client_node)
-  {
-    ROS_ERROR("free_fleet_client_ros1: unable to initialize.");
-    return 1;
-  }
-  return 0;
-}
diff --git a/free_fleet_client_ros1/src/tests/fake_action_server.cpp b/free_fleet_client_ros1/src/tests/fake_action_server.cpp
deleted file mode 100644
index 04e73072..00000000
--- a/free_fleet_client_ros1/src/tests/fake_action_server.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <iostream>
-
-#include <ros/ros.h>
-
-#include <move_base_msgs/MoveBaseAction.h>
-#include <actionlib/server/simple_action_server.h>
-
-
-using MoveBaseServer = 
-    actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction>;
-
-void execute(
-    const move_base_msgs::MoveBaseGoalConstPtr& _goal, 
-    MoveBaseServer* _server)
-{
-  ROS_INFO("got an action service call to x: %.2f, y: %.2f",
-      _goal->target_pose.pose.position.x,
-      _goal->target_pose.pose.position.y);
-  ROS_INFO("setting it to SUCCEED now");
-  // do lots of awesome groundbreaking robot stuff here
-  _server->setSucceeded();
-}
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "fake_action_server");
-  ros::NodeHandle n;
-  MoveBaseServer server(
-      n, "move_base", boost::bind(&execute, _1, &server), false);
-  server.start();
-  ros::spin();
-  return 0;
-}
diff --git a/free_fleet_client_ros1/src/tests/fake_docking_server.cpp b/free_fleet_client_ros1/src/tests/fake_docking_server.cpp
deleted file mode 100644
index 2f93c1d4..00000000
--- a/free_fleet_client_ros1/src/tests/fake_docking_server.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * Copyright (C) 2020 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <ros/ros.h>
-#include <std_srvs/Trigger.h>
-
-bool trigger(
-  std_srvs::Trigger::Request& req,
-  std_srvs::Trigger::Response& res)
-{
-  res.success = true;
-  ROS_INFO("Docking trigger received.");
-  return true;
-}
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "fake_docking_server");
-  ros::NodeHandle n;
-
-  ros::ServiceServer service =
-    n.advertiseService("fake_docking_server", trigger);
-  ros::spin();
-  return 0;
-}
-
diff --git a/free_fleet_client_ros1/src/utilities.cpp b/free_fleet_client_ros1/src/utilities.cpp
deleted file mode 100644
index 253581b9..00000000
--- a/free_fleet_client_ros1/src/utilities.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "utilities.hpp"
-
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-
-namespace free_fleet
-{
-namespace ros1
-{
-
-double get_yaw_from_quat(const geometry_msgs::Quaternion& _quat)
-{
-  tf2::Quaternion tf2_quat;
-  tf2::fromMsg(_quat, tf2_quat);
-  tf2::Matrix3x3 tf2_mat(tf2_quat);
-  
-  // ignores pitch and roll, but the api call is so nice though
-  double yaw;
-  double pitch;
-  double roll;
-  tf2_mat.getEulerYPR(yaw, pitch, roll);
-  return yaw;
-}
-
-double get_yaw_from_transform(
-    const geometry_msgs::TransformStamped& _transform_stamped)
-{
-  return get_yaw_from_quat(_transform_stamped.transform.rotation);
-}
-
-geometry_msgs::Quaternion get_quat_from_yaw(double _yaw)
-{
-  tf2::Quaternion quat_tf;
-  quat_tf.setRPY(0.0, 0.0, _yaw);
-  quat_tf.normalize();
-
-  geometry_msgs::Quaternion quat = tf2::toMsg(quat_tf);
-  return quat;
-}
-
-bool is_transform_close(
-    const geometry_msgs::TransformStamped& _first,
-    const geometry_msgs::TransformStamped& _second)
-{
-  if (_first.header.frame_id != _second.header.frame_id || 
-      _first.child_frame_id != _second.child_frame_id)
-    return false;
-
-  double elapsed_sec = (_second.header.stamp - _first.header.stamp).toSec();
-  tf2::Vector3 first_pos;
-  tf2::Vector3 second_pos;
-  tf2::fromMsg(_first.transform.translation, first_pos);
-  tf2::fromMsg(_second.transform.translation, second_pos);
-  double distance = second_pos.distance(first_pos);
-  double speed = abs(distance / elapsed_sec);
-  if (speed > 0.01)
-    return false;
-
-  double first_yaw = get_yaw_from_transform(_first);
-  double second_yaw = get_yaw_from_transform(_second);
-  double turning_speed = abs((second_yaw - first_yaw) / elapsed_sec);
-  if (turning_speed > 0.01)
-    return false;
-
-  return true;
-}
-
-} // namespace ros1
-} // namespace free_fleet
diff --git a/free_fleet_client_ros1/src/utilities.hpp b/free_fleet_client_ros1/src/utilities.hpp
deleted file mode 100644
index cbcaef45..00000000
--- a/free_fleet_client_ros1/src/utilities.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET_CLIENT_ROS1__SRC__UTILITIES_HPP
-#define FREE_FLEET_CLIENT_ROS1__SRC__UTILITIES_HPP
-
-#include <geometry_msgs/Quaternion.h>
-#include <geometry_msgs/TransformStamped.h>
-
-namespace free_fleet
-{
-namespace ros1
-{
-
-double get_yaw_from_quat(const geometry_msgs::Quaternion& quat);
-
-double get_yaw_from_transform(
-    const geometry_msgs::TransformStamped& transform_stamped); 
-
-geometry_msgs::Quaternion get_quat_from_yaw(double yaw);
-
-bool is_transform_close(
-    const geometry_msgs::TransformStamped& transform_1,
-    const geometry_msgs::TransformStamped& transform_2);
-
-} // namespace ros1
-} // namespace free_fleet
-
-#endif // FREE_FLEET_CLIENT_ROS1__SRC__UTILITIES_HPP
diff --git a/free_fleet_client_ros2/CMakeLists.txt b/free_fleet_client_ros2/CMakeLists.txt
deleted file mode 100644
index 9b71d4ee..00000000
--- a/free_fleet_client_ros2/CMakeLists.txt
+++ /dev/null
@@ -1,76 +0,0 @@
-cmake_minimum_required(VERSION 3.5.0)
-project(free_fleet_client_ros2)
-
-# Default to C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # we dont use add_compile_options with pedantic in message packages
-  # because the Python C extensions dont comply with it
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
-endif()
-
-find_package(ament_cmake QUIET)
-
-if (ament_cmake_FOUND)
-
-  set(dependencies
-    rclcpp
-    rclcpp_action
-    tf2
-    tf2_ros
-    nav2_util
-    std_srvs
-    sensor_msgs
-    nav2_msgs
-    geometry_msgs
-    rmf_fleet_msgs
-    free_fleet
-  )
-
-  foreach(dep ${dependencies})
-    find_package(${dep} REQUIRED)
-  endforeach()
-
-  #=============================================================================
-
-  include_directories(include)
-  add_executable(free_fleet_client_ros2
-    src/main.cpp
-    src/utilities.cpp
-    src/client_node.cpp
-    src/client_node_config.cpp
-  )
-  ament_target_dependencies(free_fleet_client_ros2
-    ${dependencies}
-  )
-
-  #=============================================================================
-
-  set(testing_targets
-    fake_action_server
-    fake_docking_server
-  )
-  foreach(target ${testing_targets})
-    add_executable(${target}
-      src/tests/${target}.cpp
-    )
-    ament_target_dependencies(${target}
-      ${dependencies}
-    )
-  endforeach()
-
-  #=============================================================================
-
-  install(TARGETS free_fleet_client_ros2
-    ${testing_targets}
-    RUNTIME DESTINATION lib/${PROJECT_NAME}
-  )
-
-  ament_package()
-
-else()
-  message("ament_cmake not found so skipping this ROS2 package")
-endif()
diff --git a/free_fleet_client_ros2/include/free_fleet/ros2/client_node.hpp b/free_fleet_client_ros2/include/free_fleet/ros2/client_node.hpp
deleted file mode 100644
index 00da27e6..00000000
--- a/free_fleet_client_ros2/include/free_fleet/ros2/client_node.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__ROS2__CLIENTNODE_HPP
-#define FREE_FLEET__ROS2__CLIENTNODE_HPP
-
-#include <deque>
-#include <shared_mutex>
-#include <atomic>
-#include <memory>
-#include <thread>
-#include <vector>
-
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer_interface.h>
-#include <tf2_ros/create_timer_ros.h>
-#include <tf2/impl/utils.h>
-#include <std_srvs/srv/trigger.hpp>
-#include <sensor_msgs/msg/battery_state.hpp>
-#include <nav2_msgs/action/navigate_to_pose.hpp>
-
-#include <geometry_msgs/msg/transform_stamped.hpp>
-
-#include <nav2_util/robot_utils.hpp>
-
-#include <geometry_msgs/msg/pose_stamped.hpp>
-
-#include <free_fleet/Client.hpp>
-#include <free_fleet/ClientConfig.hpp>
-#include <free_fleet/messages/RobotState.hpp>
-#include <free_fleet/messages/ModeRequest.hpp>
-#include <free_fleet/messages/PathRequest.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-
-#include <free_fleet/Client.hpp>
-#include <free_fleet/messages/Location.hpp>
-
-#include "free_fleet/ros2/client_node_config.hpp"
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-class ClientNode : public rclcpp::Node
-{
-public:
-  using SharedPtr = std::shared_ptr<ClientNode>;
-  using Mutex = std::shared_mutex;
-  using ReadLock = std::shared_lock<Mutex>;
-  using WriteLock = std::unique_lock<Mutex>;
-
-  using NavigateToPose = nav2_msgs::action::NavigateToPose;
-  using GoalHandleNavigateToPose = rclcpp_action::ClientGoalHandle<NavigateToPose>;
-
-  explicit ClientNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
-  ~ClientNode() override;
-
-  struct Fields
-  {
-    /// Free fleet client
-    Client::SharedPtr client;
-
-    // navigation2 action client
-    rclcpp_action::Client<NavigateToPose>::SharedPtr move_base_client;
-
-    // Docker server client
-    rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr docking_trigger_client;
-  };
-
-  void print_config();
-
-private:
-  // --------------------------------------------------------------------------
-  // Battery handling
-
-  rclcpp::Subscription<sensor_msgs::msg::BatteryState>::SharedPtr  battery_percent_sub;
-  Mutex battery_state_mutex;
-  sensor_msgs::msg::BatteryState current_battery_state;
-  void battery_state_callback_fn(const sensor_msgs::msg::BatteryState::SharedPtr msg);
-
-  // --------------------------------------------------------------------------
-  // Robot pose handling
-
-  std::shared_ptr<tf2_ros::Buffer> tf2_buffer;
-  std::shared_ptr<tf2_ros::TransformListener> tf2_listener;
-  Mutex robot_pose_mutex;
-  geometry_msgs::msg::PoseStamped current_robot_pose;
-  geometry_msgs::msg::PoseStamped previous_robot_pose;
-
-  bool get_robot_pose();
-
-  // --------------------------------------------------------------------------
-  // Mode handling
-
-  // TODO: conditions to trigger emergency, however this is most likely for
-  // indicating emergency within the fleet and not in RMF
-  // TODO: figure out a better way to handle multiple triggered modes
-  std::atomic<bool> request_error;
-  std::atomic<bool> emergency;
-  std::atomic<bool> paused;
-
-  messages::RobotMode get_robot_mode();
-  bool read_mode_request();
-
-  // --------------------------------------------------------------------------
-  // Path request handling
-
-  bool read_path_request();
-
-  // --------------------------------------------------------------------------
-  // Destination request handling
-
-  bool read_destination_request();
-
-  // --------------------------------------------------------------------------
-  // Task handling
-
-  bool is_valid_request(
-      const std::string& request_fleet_name,
-      const std::string& request_robot_name,
-      const std::string& request_task_id);
-
-  Mutex task_id_mutex;
-  std::string current_task_id;
-
-  NavigateToPose::Goal location_to_nav_goal(
-    const messages::Location& _location) const;
-
-  struct Goal
-  {
-    std::string level_name;
-    NavigateToPose::Goal goal;
-    bool sent = false;
-    uint32_t aborted_count = 0;
-    rclcpp::Time goal_end_time;
-  };
-
-  Mutex goal_path_mutex;
-  std::deque<Goal> goal_path;
-
-  void read_requests();
-  void handle_requests();
-  void publish_robot_state();
-
-  // --------------------------------------------------------------------------
-  // publish and update functions and timers
-
-  std::shared_ptr<rclcpp::TimerBase> update_timer;
-  std::shared_ptr<rclcpp::TimerBase> publish_timer;
-  void update_fn();
-  void publish_fn();
-
-  // --------------------------------------------------------------------------
-
-  ClientNodeConfig client_node_config;
-  Fields fields;
-
-  void start(Fields fields);
-};
-
-} // namespace ros2
-} // namespace free_fleet
-
-#endif // FREE_FLEET__ROS2__CLIENTNODE_HPP
\ No newline at end of file
diff --git a/free_fleet_client_ros2/include/free_fleet/ros2/client_node_config.hpp b/free_fleet_client_ros2/include/free_fleet/ros2/client_node_config.hpp
deleted file mode 100644
index ea4180d9..00000000
--- a/free_fleet_client_ros2/include/free_fleet/ros2/client_node_config.hpp
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__ROS2__CLIENTNODECONFIG_HPP
-#define FREE_FLEET__ROS2__CLIENTNODECONFIG_HPP
-
-#include <string>
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <free_fleet/ClientConfig.hpp>
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-struct ClientNodeConfig
-{
-
-  std::string fleet_name = "fleet_name";
-  std::string robot_name = "robot_name";
-  std::string robot_model = "robot_model";
-  std::string level_name = "level_name";
-
-  std::string battery_state_topic = "/battery_state";
-
-  std::string map_frame = "map";
-  std::string robot_frame = "base_footprint";
-
-  std::string move_base_server_name = "move_base";
-  std::string docking_trigger_server_name = "";
-
-  int dds_domain = 42;
-  std::string dds_state_topic = "robot_state";
-  std::string dds_mode_request_topic = "mode_request";
-  std::string dds_path_request_topic = "path_request";
-  std::string dds_destination_request_topic = "destination_request";
-
-  double wait_timeout = 10.0;
-  double update_frequency = 10.0;
-  double publish_frequency = 1.0;
-
-  double max_dist_to_first_waypoint = 10.0;
-
-  void print_config() const;
-
-  ClientConfig get_client_config() const;
-};
-
-} // namespace ros2
-} // namespace free_fleet
-
-#endif // FREE_FLEET__ROS2__CLIENTNODECONFIG_HPP
\ No newline at end of file
diff --git a/free_fleet_client_ros2/include/free_fleet/ros2/utilities.hpp b/free_fleet_client_ros2/include/free_fleet/ros2/utilities.hpp
deleted file mode 100644
index 73c977bf..00000000
--- a/free_fleet_client_ros2/include/free_fleet/ros2/utilities.hpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET__ROS2__UTILITIES_HPP
-#define FREE_FLEET__ROS2__UTILITIES_HPP
-
-#include <geometry_msgs/msg/pose_stamped.hpp>
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-double get_yaw_from_pose(
-    const geometry_msgs::msg::PoseStamped& pose_stamped); 
-
-geometry_msgs::msg::Quaternion get_quat_from_yaw(double _yaw);
-
-bool is_pose_close(
-    const geometry_msgs::msg::PoseStamped& pose_1,
-    const geometry_msgs::msg::PoseStamped& pose_2);
-
-} // namespace ros2
-} // namespace free_fleet
-
-#endif // FREE_FLEET__ROS2__UTILITIES_HPP
\ No newline at end of file
diff --git a/free_fleet_client_ros2/package.xml b/free_fleet_client_ros2/package.xml
deleted file mode 100644
index 1ac24467..00000000
--- a/free_fleet_client_ros2/package.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>free_fleet_client_ros2</name>
-  <version>1.3.0</version>
-  <description>TODO</description>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
-  <maintainer email="elias@tractonomy.com">Elias De Coninck</maintainer>
-  <license>Apache-2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>rclcpp_action</depend>
-  <depend>tf2_ros</depend>
-  <depend>nav2_util</depend>
-  <depend>geometry_msgs</depend>
-  <depend>tf2</depend>
-  <depend>nav2_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>rmf_fleet_msgs</depend>
-  <depend>free_fleet</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/free_fleet_client_ros2/src/client_node.cpp b/free_fleet_client_ros2/src/client_node.cpp
deleted file mode 100644
index 6d7244c2..00000000
--- a/free_fleet_client_ros2/src/client_node.cpp
+++ /dev/null
@@ -1,685 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <iostream>
-#include <exception>
-#include <thread>
-
-#include <rcl/time.h>
-#include <rclcpp/rclcpp.hpp>
-#include <std_srvs/srv/trigger.hpp>
-
-#include <rclcpp_action/rclcpp_action.hpp>
-#include <nav2_msgs/action/navigate_to_pose.hpp>
-
-#include "free_fleet/ros2/utilities.hpp"
-#include "free_fleet/ros2/client_node.hpp"
-#include "free_fleet/ros2/client_node_config.hpp"
-
-namespace free_fleet
-{
-namespace ros2
-{
-ClientNode::ClientNode(const rclcpp::NodeOptions & options)
-: rclcpp::Node("free_fleet_client_ros2", options)
-{
-  /// Starting the free fleet client
-  RCLCPP_INFO(get_logger(), "Greetings from %s", get_name());
-
-  // parameter declarations
-  declare_parameter("fleet_name", client_node_config.fleet_name);
-  declare_parameter("robot_name", client_node_config.robot_name);
-  declare_parameter("robot_model", client_node_config.robot_model);
-  declare_parameter("level_name", client_node_config.level_name);
-  // defaults declared in header
-  declare_parameter("battery_state_topic", client_node_config.battery_state_topic);
-  declare_parameter("map_frame", client_node_config.map_frame);
-  declare_parameter("robot_frame", client_node_config.robot_frame);
-  declare_parameter("nav2_server_name", client_node_config.move_base_server_name);
-  declare_parameter("docking_trigger_server_name", client_node_config.docking_trigger_server_name);
-  declare_parameter("dds_domain", client_node_config.dds_domain);
-  declare_parameter("dds_mode_request_topic", client_node_config.dds_mode_request_topic);
-  declare_parameter("dds_path_request_topic", client_node_config.dds_path_request_topic);
-  declare_parameter(
-    "dds_destination_request_topic",
-    client_node_config.dds_destination_request_topic);
-  declare_parameter("wait_timeout", client_node_config.wait_timeout);
-  declare_parameter("update_frequency", client_node_config.update_frequency);
-  declare_parameter("publish_frequency", client_node_config.publish_frequency);
-  declare_parameter("max_dist_to_first_waypoint", client_node_config.max_dist_to_first_waypoint);
-
-  // getting new values for parameters or keep defaults
-  get_parameter("fleet_name", client_node_config.fleet_name);
-  get_parameter("robot_name", client_node_config.robot_name);
-  get_parameter("robot_model", client_node_config.robot_model);
-  get_parameter("level_name", client_node_config.level_name);
-  get_parameter("battery_state_topic", client_node_config.battery_state_topic);
-  get_parameter("map_frame", client_node_config.map_frame);
-  get_parameter("robot_frame", client_node_config.robot_frame);
-  get_parameter("nav2_server_name", client_node_config.move_base_server_name);
-  get_parameter("docking_trigger_server_name", client_node_config.docking_trigger_server_name);
-  get_parameter("dds_domain", client_node_config.dds_domain);
-  get_parameter("dds_mode_request_topic", client_node_config.dds_mode_request_topic);
-  get_parameter("dds_path_request_topic", client_node_config.dds_path_request_topic);
-  get_parameter(
-    "dds_destination_request_topic",
-    client_node_config.dds_destination_request_topic);
-  get_parameter("wait_timeout", client_node_config.wait_timeout);
-  get_parameter("update_frequency", client_node_config.update_frequency);
-  get_parameter("publish_frequency", client_node_config.publish_frequency);
-  get_parameter("max_dist_to_first_waypoint", client_node_config.max_dist_to_first_waypoint);
-  print_config();
-
-  ClientConfig client_config = client_node_config.get_client_config();
-  Client::SharedPtr client = Client::make(client_config);
-  if (!client) {
-    throw std::runtime_error("Unable to create free_fleet Client from config.");
-  }
-
-  /// Setting up the navigation2 action client, wait for server
-  RCLCPP_INFO(
-    get_logger(), "waiting for connection with navigation action server: %s",
-    client_node_config.move_base_server_name.c_str());
-  rclcpp_action::Client<NavigateToPose>::SharedPtr move_base_client =
-    rclcpp_action::create_client<NavigateToPose>(this, client_node_config.move_base_server_name);
-  while (!move_base_client->wait_for_action_server(std::chrono::duration<double>(client_node_config.wait_timeout))) {
-    RCLCPP_ERROR(
-      get_logger(), "timed out waiting for action server: %s",
-      client_node_config.move_base_server_name.c_str());
-    if (!rclcpp::ok())
-      throw std::runtime_error("exited rclcpp while constructing client_node");
-  }
-  RCLCPP_INFO(
-    get_logger(), "connected with move base action server: %s",
-    client_node_config.move_base_server_name.c_str());
-
-  /// Setting up the docking server client, if required, wait for server
-  rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr docking_trigger_client = nullptr;
-  if (client_node_config.docking_trigger_server_name != "") {
-    docking_trigger_client = create_client<std_srvs::srv::Trigger>(
-      client_node_config.docking_trigger_server_name);
-    RCLCPP_INFO(
-      get_logger(), "waiting for connection with trigger server: %s",
-      client_node_config.docking_trigger_server_name.c_str());
-    while (!docking_trigger_client->wait_for_service(
-        std::chrono::duration<double>(client_node_config.wait_timeout)))
-    {
-      RCLCPP_ERROR(
-        get_logger(), "timed out waiting for docking trigger server: %s",
-        client_node_config.docking_trigger_server_name.c_str());
-      if (!rclcpp::ok()) {
-        throw std::runtime_error("exited rclcpp while constructing client_node");
-      }
-    }
-  }
-
-  tf2_buffer = std::make_shared<tf2_ros::Buffer>(get_clock());
-  auto timer_interface =
-    std::make_shared<tf2_ros::CreateTimerROS>(
-    get_node_base_interface(), get_node_timers_interface());
-  tf2_buffer->setCreateTimerInterface(timer_interface);
-  tf2_buffer->setUsingDedicatedThread(true);
-  tf2_listener = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer);
-
-  start(
-    Fields{
-        std::move(client),
-        std::move(move_base_client),
-        std::move(docking_trigger_client)
-      });
-}
-
-ClientNode::~ClientNode()
-{
-}
-
-void ClientNode::start(Fields _fields)
-{
-  fields = std::move(_fields);
-
-  battery_percent_sub = create_subscription<sensor_msgs::msg::BatteryState>(
-    client_node_config.battery_state_topic, rclcpp::SensorDataQoS().keep_last(1),
-    std::bind(&ClientNode::battery_state_callback_fn, this, std::placeholders::_1));
-
-  request_error = false;
-  emergency = false;
-  paused = false;
-
-  RCLCPP_INFO(get_logger(), "starting update timer.");
-  std::chrono::duration<double> update_period =
-    std::chrono::duration<double>(1.0 / client_node_config.update_frequency);
-  update_timer = create_wall_timer(update_period, std::bind(&ClientNode::update_fn, this));
-
-  RCLCPP_INFO(get_logger(), "starting publish timer.");
-  std::chrono::duration<double> publish_period =
-    std::chrono::duration<double>(1.0 / client_node_config.publish_frequency);
-  publish_timer = create_wall_timer(publish_period, std::bind(&ClientNode::publish_fn, this));
-}
-
-void ClientNode::print_config()
-{
-  client_node_config.print_config();
-}
-
-void ClientNode::battery_state_callback_fn(
-  const sensor_msgs::msg::BatteryState::SharedPtr _msg)
-{
-  WriteLock battery_state_lock(battery_state_mutex);
-  current_battery_state = *_msg;
-}
-
-bool ClientNode::get_robot_pose()
-{
-  geometry_msgs::msg::PoseStamped tmp_pose_stamped;
-  if (nav2_util::getCurrentPose(
-      tmp_pose_stamped, *tf2_buffer,
-      client_node_config.map_frame,
-      client_node_config.robot_frame,
-      client_node_config.wait_timeout)) {
-    WriteLock robot_transform_lock(robot_pose_mutex);
-    previous_robot_pose = current_robot_pose;
-    current_robot_pose = tmp_pose_stamped;
-    return true;
-  } else {
-    RCLCPP_WARN(get_logger(), "Unable to get robot pose.");
-    return false;
-  }
-}
-
-messages::RobotMode ClientNode::get_robot_mode()
-{
-  /// Checks if robot has just received a request that causes an adapter error
-  if (request_error) {
-    return messages::RobotMode{messages::RobotMode::MODE_REQUEST_ERROR};
-  }
-
-  /// Checks if robot is under emergency
-  if (emergency) {
-    return messages::RobotMode{messages::RobotMode::MODE_EMERGENCY};
-  }
-
-  /// Checks if robot is charging
-  {
-    ReadLock battery_state_lock(battery_state_mutex);
-
-    if (current_battery_state.power_supply_status ==
-      current_battery_state.POWER_SUPPLY_STATUS_CHARGING)
-    {
-      return messages::RobotMode{messages::RobotMode::MODE_CHARGING};
-    }
-  }
-
-  /// Checks if robot is moving
-  {
-    ReadLock robot_transform_lock(robot_pose_mutex);
-
-    if (!is_pose_close(
-        current_robot_pose, previous_robot_pose))
-    {
-      return messages::RobotMode{messages::RobotMode::MODE_MOVING};
-    }
-  }
-
-  /// Otherwise, robot is neither charging nor moving,
-  /// Checks if the robot is paused
-  if (paused) {
-    return messages::RobotMode{messages::RobotMode::MODE_PAUSED};
-  }
-
-  /// Otherwise, robot has queued tasks, it is paused or waiting,
-  /// default to use pausing for now
-  return messages::RobotMode{messages::RobotMode::MODE_IDLE};
-}
-
-void ClientNode::publish_robot_state()
-{
-  messages::RobotState new_robot_state;
-  new_robot_state.name = client_node_config.robot_name;
-  new_robot_state.model = client_node_config.robot_model;
-
-  {
-    ReadLock task_id_lock(task_id_mutex);
-    new_robot_state.task_id = current_task_id;
-  }
-
-  new_robot_state.mode = get_robot_mode();
-
-  {
-    ReadLock battery_state_lock(battery_state_mutex);
-    /// RMF expects battery to have a percentage in the range for 0-100.
-    /// sensor_msgs/BatteryInfo on the other hand returns a value in
-    /// the range of 0-1
-    new_robot_state.battery_percent = 100 * current_battery_state.percentage;
-  }
-
-  {
-    ReadLock robot_transform_lock(robot_pose_mutex);
-    new_robot_state.location.sec = current_robot_pose.header.stamp.sec;
-    new_robot_state.location.nanosec =
-      current_robot_pose.header.stamp.nanosec;
-    new_robot_state.location.x =
-      current_robot_pose.pose.position.x;
-    new_robot_state.location.y =
-      current_robot_pose.pose.position.y;
-    new_robot_state.location.yaw = get_yaw_from_pose(current_robot_pose);
-    new_robot_state.location.level_name = client_node_config.level_name;
-  }
-
-  new_robot_state.path.clear();
-  {
-    ReadLock goal_path_lock(goal_path_mutex);
-    for (size_t i = 0; i < goal_path.size(); ++i)
-    {
-      new_robot_state.path.push_back(
-          messages::Location{
-              (int32_t)goal_path[i].goal.pose.header.stamp.sec,
-              goal_path[i].goal.pose.header.stamp.nanosec,
-              (float)goal_path[i].goal.pose.pose.position.x,
-              (float)goal_path[i].goal.pose.pose.position.y,
-              (float)get_yaw_from_pose(goal_path[i].goal.pose),
-              goal_path[i].level_name
-          });
-    }
-  }
-
-  if (!fields.client->send_robot_state(new_robot_state)) {
-    RCLCPP_WARN(
-      get_logger(), "failed to send robot state: msg sec %u",
-      new_robot_state.location.sec);
-  }
-}
-
-bool ClientNode::is_valid_request(
-  const std::string & _request_fleet_name,
-  const std::string & _request_robot_name,
-  const std::string & _request_task_id)
-{
-  ReadLock task_id_lock(task_id_mutex);
-  if (current_task_id == _request_task_id ||
-    client_node_config.robot_name != _request_robot_name ||
-    client_node_config.fleet_name != _request_fleet_name)
-  {
-    return false;
-  }
-  return true;
-}
-
-
-nav2_msgs::action::NavigateToPose::Goal ClientNode::location_to_nav_goal(
-    const messages::Location& _location) const
-{
-  NavigateToPose::Goal goal;
-  goal.pose.header.frame_id = client_node_config.map_frame;
-  goal.pose.header.stamp.sec = _location.sec;
-  goal.pose.header.stamp.nanosec = _location.nanosec;
-  goal.pose.pose.position.x = _location.x;
-  goal.pose.pose.position.y = _location.y;
-  goal.pose.pose.position.z = 0.0; // TODO: handle Z height with level
-  goal.pose.pose.orientation = get_quat_from_yaw(_location.yaw);
-  return goal;
-}
-
-bool ClientNode::read_mode_request()
-{
-  messages::ModeRequest mode_request;
-  if (fields.client->read_mode_request(mode_request) &&
-      is_valid_request(
-          mode_request.fleet_name, mode_request.robot_name,
-          mode_request.task_id))
-  {
-    if (mode_request.mode.mode == messages::RobotMode::MODE_PAUSED)
-    {
-      RCLCPP_INFO(get_logger(), "received a PAUSE command.");
-
-      fields.move_base_client->async_cancel_all_goals();
-      WriteLock goal_path_lock(goal_path_mutex);
-      if (!goal_path.empty())
-        goal_path[0].sent = false;
-
-      paused = true;
-      emergency = false;
-      request_error = false;
-    }
-    else if (mode_request.mode.mode == messages::RobotMode::MODE_MOVING)
-    {
-      RCLCPP_INFO(get_logger(), "received an explicit RESUME command.");
-      paused = false;
-      emergency = false;
-      request_error = false;
-    }
-    else if (mode_request.mode.mode == messages::RobotMode::MODE_EMERGENCY)
-    {
-      RCLCPP_INFO(get_logger(), "received an EMERGENCY command.");
-      paused = false;
-      emergency = true;
-      request_error = false;
-    }
-    else if (mode_request.mode.mode == messages::RobotMode::MODE_DOCKING)
-    {
-      RCLCPP_INFO(get_logger(), "received a DOCKING command.");
-      if (fields.docking_trigger_client &&
-        fields.docking_trigger_client->service_is_ready())
-      {
-        using ServiceResponseFuture =
-          rclcpp::Client<std_srvs::srv::Trigger>::SharedFuture;
-        auto response_received_callback = [&](ServiceResponseFuture future) {
-          auto response = future.get();
-          if (!response->success)
-          {
-            RCLCPP_ERROR(get_logger(), "Failed to trigger docking sequence, message: %s.",
-              response->message.c_str());
-            request_error = true;
-          } else {
-            request_error = false;
-          }
-        };
-        auto trigger_srv = std::make_shared<std_srvs::srv::Trigger::Request>();
-        // sync call would block indefinelty as we are in a spinning node
-        fields.docking_trigger_client->async_send_request(trigger_srv, response_received_callback);
-      }
-    }
-    else {
-      RCLCPP_ERROR(get_logger(), "received an INVALID/UNSUPPORTED command: %d.",
-              mode_request.mode.mode);
-      request_error = true;
-    }
-
-    WriteLock task_id_lock(task_id_mutex);
-    current_task_id = mode_request.task_id;
-
-    return true;
-  }
-  return false;
-}
-
-bool ClientNode::read_path_request()
-{
-  messages::PathRequest path_request;
-  if (fields.client->read_path_request(path_request) &&
-      is_valid_request(
-          path_request.fleet_name, path_request.robot_name,
-          path_request.task_id))
-  {
-    RCLCPP_INFO(get_logger(), "received a Path command of size %lu.", path_request.path.size());
-
-    if (path_request.path.size() <= 0)
-      return false;
-
-    // Sanity check: the first waypoint of the Path must be within N meters of
-    // our current position. Otherwise, ignore the request.
-    {
-      ReadLock robot_transform_lock(robot_pose_mutex);
-      const double dx =
-          path_request.path[0].x -
-          current_robot_pose.pose.position.x;
-      const double dy =
-          path_request.path[0].y -
-          current_robot_pose.pose.position.y;
-      const double dist_to_first_waypoint = sqrt(dx*dx + dy*dy);
-
-      RCLCPP_INFO(get_logger(), "distance to first waypoint: %.2f\n", dist_to_first_waypoint);
-
-      if (dist_to_first_waypoint >
-          client_node_config.max_dist_to_first_waypoint)
-      {
-        RCLCPP_WARN(get_logger(), "distance was over threshold of %.2f ! Rejecting path,"
-            "waiting for next valid request.\n",
-            client_node_config.max_dist_to_first_waypoint);
-
-        fields.move_base_client->async_cancel_all_goals();
-        {
-          WriteLock goal_path_lock(goal_path_mutex);
-          goal_path.clear();
-        }
-
-        request_error = true;
-        emergency = false;
-        paused = false;
-        return false;
-      }
-    }
-
-    fields.move_base_client->async_cancel_all_goals();
-    // TODO(AA): Use a scoped lock for these mutexes, and rework the time
-    // remaining wait logic. We are currently relying on the task to be updated
-    // to indicate that the client does not need to wait anymore.
-    {
-      WriteLock task_id_lock(task_id_mutex);
-      current_task_id = path_request.task_id;
-    }
-    {
-      WriteLock goal_path_lock(goal_path_mutex);
-      goal_path.clear();
-      for (size_t i = 0; i < path_request.path.size(); ++i)
-      {
-        RCLCPP_INFO(get_logger(), "sec: %u", path_request.path[i].sec);
-        goal_path.push_back(
-            Goal {
-                path_request.path[i].level_name,
-                location_to_nav_goal(path_request.path[i]),
-                false,
-                0,
-                rclcpp::Time(
-                    path_request.path[i].sec,
-                    path_request.path[i].nanosec,
-                    RCL_ROS_TIME)}); // messages use RCL_ROS_TIME instead of default RCL_SYSTEM_TIME
-      }
-    }
-
-    if (paused)
-      paused = false;
-
-    request_error = false;
-    return true;
-  }
-  return false;
-}
-
-bool ClientNode::read_destination_request()
-{
-  messages::DestinationRequest destination_request;
-  if (fields.client->read_destination_request(destination_request) &&
-      is_valid_request(
-          destination_request.fleet_name, destination_request.robot_name,
-          destination_request.task_id))
-  {
-    RCLCPP_INFO(get_logger(), "received a Destination command, x: %.2f, y: %.2f, yaw: %.2f",
-        destination_request.destination.x, destination_request.destination.y,
-        destination_request.destination.yaw);
-
-    fields.move_base_client->async_cancel_all_goals();
-    {
-      WriteLock goal_path_lock(goal_path_mutex);
-      goal_path.clear();
-      goal_path.push_back(
-          Goal {
-              destination_request.destination.level_name,
-              location_to_nav_goal(destination_request.destination),
-              false,
-              0,
-              rclcpp::Time(
-                  destination_request.destination.sec,
-                  destination_request.destination.nanosec,
-                  RCL_ROS_TIME)}); // messages use RCL_ROS_TIME instead of default RCL_SYSTEM_TIME
-    }
-
-    {
-      WriteLock task_id_lock(task_id_mutex);
-      current_task_id = destination_request.task_id;
-    }
-
-    if (paused)
-      paused = false;
-
-    request_error = false;
-    return true;
-  }
-  return false;
-}
-
-void ClientNode::read_requests()
-{
-  if (read_mode_request() ||
-    read_path_request() ||
-    read_destination_request())
-  {
-    return;
-  }
-}
-
-void ClientNode::handle_requests()
-{
-  // there is an emergency or the robot is paused
-  if (emergency || request_error || paused)
-    return;
-
-  // ooooh we have goals
-  ReadLock goal_path_lock(goal_path_mutex);
-  if (!goal_path.empty())
-  {
-    auto send_goal_options = rclcpp_action::Client<NavigateToPose>::SendGoalOptions();
-    send_goal_options.goal_response_callback = [&](const GoalHandleNavigateToPose::SharedPtr & goal) {
-      if (!goal) {
-        RCLCPP_ERROR(get_logger(), "Goal was rejected by server");
-      } else {
-        RCLCPP_INFO(get_logger(), "Goal accepted by server, waiting for result");
-      }
-    };
-    send_goal_options.feedback_callback = [&](GoalHandleNavigateToPose::SharedPtr, const std::shared_ptr<const NavigateToPose::Feedback> feedback) {
-      RCLCPP_INFO_THROTTLE(this->get_logger(), *get_clock(), 5000, "Distance remaining: %f", feedback->distance_remaining);
-    };
-    send_goal_options.result_callback = [&](const GoalHandleNavigateToPose::WrappedResult & result) {
-      WriteLock goal_path_lock(goal_path_mutex);
-      switch (result.code) {
-        case rclcpp_action::ResultCode::SUCCEEDED:
-          RCLCPP_INFO(get_logger(), "current goal state: SUCCEEEDED.");
-          // By some stroke of good fortune, we may have arrived at our goal
-          // earlier than we were scheduled to reach it. If that is the case,
-          // we need to wait here until it's time to proceed.
-          if (now() >= goal_path.front().goal_end_time)
-          {
-            if (!goal_path.empty()) // TODO: fix race condition instead
-              goal_path.pop_front();
-          }
-          else
-          {
-            std::thread{
-              [&]()
-              {
-                std::string goal_task_id;
-                {
-                  ReadLock task_id_lock(task_id_mutex);
-                  goal_task_id = current_task_id;
-                }
-
-                {
-                  ReadLock goal_path_lock(goal_path_mutex);
-                  while (now() < goal_path.front().goal_end_time)
-                  {
-                    {
-                      ReadLock task_id_lock(task_id_mutex);
-                      if (current_task_id != goal_task_id)
-                      {
-                        RCLCPP_INFO(get_logger(),
-                          "a new task has come in, moving on to new task.");
-                        return;
-                      }
-                    }
-
-                    rclcpp::Duration wait_time_remaining =
-                        goal_path.front().goal_end_time - now();
-                    RCLCPP_INFO(get_logger(),
-                        "we reached our goal early! Waiting %.2f more seconds",
-                        wait_time_remaining.seconds());
-                    std::this_thread::sleep_for(std::chrono::seconds(2));
-                  }
-                }
-
-                std::scoped_lock goal_lock{task_id_mutex, goal_path_mutex};
-                if (!goal_path.empty() && current_task_id == goal_task_id)
-                {
-                  goal_path.pop_front();
-                }
-              }
-            }.detach();
-          }
-          return;
-        case rclcpp_action::ResultCode::ABORTED:
-          RCLCPP_ERROR(this->get_logger(), "Goal was aborted");
-          goal_path.front().aborted_count++;
-
-          // TODO: parameterize the maximum number of retries.
-          if (goal_path.front().aborted_count < 5)
-          {
-            RCLCPP_INFO(get_logger(), "robot's navigation stack has aborted the current goal %d "
-                "times, client will try again...",
-                goal_path.front().aborted_count);
-            goal_path.front().sent = false;
-            return;
-          }
-          else
-          {
-            RCLCPP_INFO(get_logger(), "robot's navigation stack has aborted the current goal %d "
-                "times, please check that there is nothing in the way of the "
-                "robot, client will abort the current path request, and await "
-                "further requests.",
-                goal_path.front().aborted_count);
-            goal_path.clear();
-            return;
-          }
-          return;
-        case rclcpp_action::ResultCode::CANCELED: // for example when paused.
-          RCLCPP_ERROR(this->get_logger(), "Goal was canceled");
-          // do not clear goal_path as we want to reuse it on resume
-          goal_path.front().sent = false;
-          return;
-        default:
-          RCLCPP_ERROR(this->get_logger(), "Unknown result code: %d", (int)result.code);
-          RCLCPP_INFO(get_logger(), "Client will abort the current path request, and await further "
-              "requests or manual intervention.");
-          goal_path.clear();
-          return;
-      }
-    };
-
-    // Goals must have been updated since last handling, execute them now
-    if (!goal_path.front().sent)
-    {
-      RCLCPP_INFO(get_logger(), "sending next goal.");
-      fields.move_base_client->async_send_goal(goal_path.front().goal, send_goal_options);
-      goal_path.front().sent = true;
-      return;
-    }
-  }
-
-  // otherwise, mode is correct, nothing in queue, nothing else to do then
-}
-
-void ClientNode::update_fn()
-{
-  get_robot_pose();
-  read_requests();
-  handle_requests();
-}
-
-void ClientNode::publish_fn()
-{
-  publish_robot_state();
-}
-
-} // namespace ros2
-} // namespace free_fleet
diff --git a/free_fleet_client_ros2/src/client_node_config.cpp b/free_fleet_client_ros2/src/client_node_config.cpp
deleted file mode 100644
index 24189308..00000000
--- a/free_fleet_client_ros2/src/client_node_config.cpp
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <cstdio>
-
-#include "free_fleet/ros2/client_node_config.hpp"
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-void ClientNodeConfig::print_config() const
-{
-  printf("ROS 2 CLIENT CONFIGURATION\n");
-  printf("  fleet name: %s\n", fleet_name.c_str());
-  printf("  robot name: %s\n", robot_name.c_str());
-  printf("  robot model: %s\n", robot_model.c_str());
-  printf("  level name: %s\n", level_name.c_str());
-  printf("  wait timeout: %.1f\n", wait_timeout);
-  printf("  update request frequency: %.1f\n", update_frequency);
-  printf("  publish state frequency: %.1f\n", publish_frequency);
-  printf("  maximum distance to first waypoint: %.1f\n", 
-      max_dist_to_first_waypoint);
-  printf("  TOPICS\n");
-  printf("    battery state: %s\n", battery_state_topic.c_str());
-  printf("    move base server: %s\n", move_base_server_name.c_str());
-  printf("    docking trigger server: %s\n", docking_trigger_server_name.c_str());
-  printf("  ROBOT FRAMES\n");
-  printf("    map frame: %s\n", map_frame.c_str());
-  printf("    robot frame: %s\n", robot_frame.c_str());
-  printf("CLIENT-SERVER DDS CONFIGURATION\n");
-  printf("  dds domain: %d\n", dds_domain);
-  printf("  TOPICS\n");
-  printf("    robot state: %s\n", dds_state_topic.c_str());
-  printf("    mode request: %s\n", dds_mode_request_topic.c_str());
-  printf("    path request: %s\n", dds_path_request_topic.c_str());
-  printf("    destination request: %s\n", 
-      dds_destination_request_topic.c_str());
-  fflush(stdout);
-}
-  
-ClientConfig ClientNodeConfig::get_client_config() const
-{
-  ClientConfig client_config;
-  client_config.dds_domain = dds_domain;
-  client_config.dds_state_topic = dds_state_topic;
-  client_config.dds_mode_request_topic = dds_mode_request_topic;
-  client_config.dds_path_request_topic = dds_path_request_topic;
-  client_config.dds_destination_request_topic = dds_destination_request_topic;
-  return client_config;
-}
-
-} // namespace ros2
-} // namespace free_fleet
\ No newline at end of file
diff --git a/free_fleet_client_ros2/src/main.cpp b/free_fleet_client_ros2/src/main.cpp
deleted file mode 100644
index 3c738796..00000000
--- a/free_fleet_client_ros2/src/main.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright (C) 2021 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <iostream>
-#include <memory>
-
-#include <rclcpp/rclcpp.hpp>
-#include "free_fleet/ros2/client_node.hpp"
-
-int main(int argc, char** argv)
-{
-  rclcpp::init(argc, argv);
-  auto node = std::make_shared<free_fleet::ros2::ClientNode>();
-  rclcpp::spin(node);
-  
-  // Cleanup and exit
-  rclcpp::shutdown();
-  return 0;
-}
diff --git a/free_fleet_client_ros2/src/tests/fake_action_server.cpp b/free_fleet_client_ros2/src/tests/fake_action_server.cpp
deleted file mode 100644
index 1b424050..00000000
--- a/free_fleet_client_ros2/src/tests/fake_action_server.cpp
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <iostream>
-#include <thread>
-
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-
-#include <nav2_msgs/action/navigate_to_pose.hpp>
-
-using NavigateToPose = nav2_msgs::action::NavigateToPose;
-using GoalHandleNavigateToPose = rclcpp_action::ServerGoalHandle<NavigateToPose>;
-
-rclcpp_action::Server<NavigateToPose>::SharedPtr action_server_;
-
-rclcpp_action::GoalResponse handle_goal(
-  const rclcpp_action::GoalUUID & uuid,
-  std::shared_ptr<const NavigateToPose::Goal> goal)
-{
-  RCLCPP_INFO(
-    rclcpp::get_logger(
-      "handle_goal_fn"), "Received goal request with frame_id %s",
-    goal->pose.header.frame_id.c_str());
-  (void)uuid;
-  return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
-}
-
-rclcpp_action::CancelResponse handle_cancel(
-  const std::shared_ptr<GoalHandleNavigateToPose> goal_handle)
-{
-  RCLCPP_INFO(rclcpp::get_logger("handle_cancel_fn"), "Received request to cancel goal");
-  (void)goal_handle;
-  return rclcpp_action::CancelResponse::ACCEPT;
-}
-
-void execute(const std::shared_ptr<GoalHandleNavigateToPose> goal_handle)
-{
-  RCLCPP_INFO(
-    rclcpp::get_logger(
-      "execute_fn"), "executing goal: send feedback for 5s to simulate work");
-  auto clock = rclcpp::Clock(RCL_STEADY_TIME);
-  auto start = clock.now();
-  // do lots of awesome groundbreaking robot stuff here
-  rclcpp::Rate loop_rate(1);
-  const auto goal = goal_handle->get_goal();
-  auto feedback = std::make_shared<NavigateToPose::Feedback>();
-  auto result = std::make_shared<NavigateToPose::Result>();
-
-  for (int i = 0; (i < 5) && rclcpp::ok(); ++i) {
-    // Check if there is a cancel request
-    if (goal_handle->is_canceling()) {
-      goal_handle->canceled(result);
-      RCLCPP_INFO(rclcpp::get_logger("execute_fn"), "Goal canceled");
-      return;
-    }
-    // Update navigation time
-    feedback->navigation_time = clock.now() - start;
-    // Publish feedback
-    goal_handle->publish_feedback(feedback);
-    RCLCPP_INFO(rclcpp::get_logger("execute_fn"), "Publish feedback");
-    loop_rate.sleep();
-  }
-
-  // Check if goal is done
-  if (rclcpp::ok()) {
-    goal_handle->succeed(result);
-    RCLCPP_INFO(rclcpp::get_logger("execute_fn"), "Goal succeeded");
-  }
-}
-
-void handle_accepted(const std::shared_ptr<GoalHandleNavigateToPose> goal_handle)
-{
-  RCLCPP_INFO(rclcpp::get_logger("handle_accepted_fn"), "starting execution thread");
-  using namespace std::placeholders;
-  // this needs to return quickly to avoid blocking the executor, so spin up a new thread
-  std::thread{std::bind(execute, _1), goal_handle}.detach();
-}
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-
-  auto node = std::make_shared<rclcpp::Node>("fake_nav2_action_server");
-  using namespace std::placeholders;  // for _1, _2, _3...
-  auto action_server = rclcpp_action::create_server<NavigateToPose>(
-    node, "navigate_to_pose_fake",
-    std::bind(handle_goal, _1, _2),
-    std::bind(handle_cancel, _1),
-    std::bind(handle_accepted, _1));
-  rclcpp::spin(node);
-
-  // Cleanup and exit
-  rclcpp::shutdown();
-  return 0;
-}
diff --git a/free_fleet_client_ros2/src/tests/fake_docking_server.cpp b/free_fleet_client_ros2/src/tests/fake_docking_server.cpp
deleted file mode 100644
index e528438f..00000000
--- a/free_fleet_client_ros2/src/tests/fake_docking_server.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- * Copyright (C) 2020 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <rclcpp/rclcpp.hpp>
-#include <std_srvs/srv/trigger.hpp>
-
-void trigger(
-  const std::shared_ptr<std_srvs::srv::Trigger::Request>,
-  std::shared_ptr<std_srvs::srv::Trigger::Response> res)
-{
-  res->success = true;
-  RCLCPP_INFO(rclcpp::get_logger("trigger_fn"), "Docking trigger received.");
-}
-
-int main(int argc, char** argv)
-{
-  rclcpp::init(argc, argv);
-
-  auto node = std::make_shared<rclcpp::Node>("fake_docking_server");
-  using namespace std::placeholders;  // for _1, _2, _3...
-  auto service = node->create_service<std_srvs::srv::Trigger>("dock_fake", std::bind(trigger, _1, _2));
-  rclcpp::spin(node);
-  
-  // Cleanup and exit
-  rclcpp::shutdown();
-  return 0;
-}
diff --git a/free_fleet_client_ros2/src/utilities.cpp b/free_fleet_client_ros2/src/utilities.cpp
deleted file mode 100644
index 399097e8..00000000
--- a/free_fleet_client_ros2/src/utilities.cpp
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <cmath>
-#include <tf2/impl/utils.h>
-
-#include "free_fleet/ros2/utilities.hpp"
-
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <geometry_msgs/msg/quaternion.hpp>
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-double get_yaw_from_pose(
-    const geometry_msgs::msg::PoseStamped& _pose_stamped)
-{
-  return tf2::impl::getYaw(
-      tf2::impl::toQuaternion(_pose_stamped.pose.orientation));
-}
-
-geometry_msgs::msg::Quaternion get_quat_from_yaw(double _yaw)
-{
-  tf2::Quaternion quat_tf;
-  quat_tf.setRPY(0.0, 0.0, _yaw);
-  quat_tf.normalize();
-
-  geometry_msgs::msg::Quaternion quat = tf2::toMsg(quat_tf);
-  return quat;
-}
-
-bool is_pose_close(
-    const geometry_msgs::msg::PoseStamped& _first,
-    const geometry_msgs::msg::PoseStamped& _second)
-{
-  if (_first.header.frame_id != _second.header.frame_id)
-    return false;
-
-
-  double elapsed_sec = (rclcpp::Time(_second.header.stamp) - _first.header.stamp).seconds();
-  double distance = hypot(_second.pose.position.x - _first.pose.position.x,
-    _second.pose.position.y - _first.pose.position.y,
-    _second.pose.position.z - _first.pose.position.z);
-  double speed = abs(distance / elapsed_sec);
-  if (speed > 0.01)
-    return false;
-
-  double first_yaw = get_yaw_from_pose(_first);
-  double second_yaw = get_yaw_from_pose(_second);
-  double turning_speed = abs((second_yaw - first_yaw) / elapsed_sec);
-  if (turning_speed > 0.01)
-    return false;
-
-  return true;
-}
-
-} // namespace ros2
-} // namespace free_fleet
\ No newline at end of file
diff --git a/free_fleet_examples/CMakeLists.txt b/free_fleet_examples/CMakeLists.txt
new file mode 100644
index 00000000..e2f7acc8
--- /dev/null
+++ b/free_fleet_examples/CMakeLists.txt
@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(free_fleet_examples)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  maps/
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_python_install_package(${PROJECT_NAME})
+
+file(GLOB_RECURSE traffic_editor_paths "maps/*.building.yaml")
+
+foreach(path ${traffic_editor_paths})
+
+  # Get the output world name
+  string(REGEX REPLACE "\\.[^.]*\.[^.]*$" "" no_extension_path ${path})
+  string(REGEX MATCH "[^\/]+$" world_name  ${no_extension_path})
+
+  set(map_path ${path})
+  set(output_world_name ${world_name})
+  set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/maps/${output_world_name})
+
+  ##############################################################################
+  # Generate the nav graphs
+  ##############################################################################
+
+  set(output_nav_graphs_dir ${output_dir}/nav_graphs/)
+  set(output_nav_graphs_phony ${output_nav_graphs_dir}/phony)
+  add_custom_command(
+    OUTPUT ${output_nav_graphs_phony}
+    COMMAND ros2 run rmf_building_map_tools building_map_generator nav ${map_path} ${output_nav_graphs_dir}
+    DEPENDS ${map_path}
+  )
+
+  add_custom_target(generate_${output_world_name}_nav_graphs ALL
+    DEPENDS ${output_nav_graphs_phony}
+  )
+
+  install(
+    DIRECTORY ${output_dir}
+    DESTINATION share/${PROJECT_NAME}/maps
+  )
+
+endforeach()
+
+install(PROGRAMS
+  ${PROJECT_NAME}/nav1_get_tf.py
+  ${PROJECT_NAME}/nav1_move_base_cancel.py
+  ${PROJECT_NAME}/nav1_move_base_simple_goal.py
+  ${PROJECT_NAME}/nav2_cancel_all_goals.py
+  ${PROJECT_NAME}/nav2_get_tf.py
+  ${PROJECT_NAME}/nav2_send_navigate_to_pose.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  launch/
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  set(_pytest_tests
+    tests/test_copyright.py
+    tests/test_flake8.py
+    tests/test_pep257.py
+  )
+  foreach(_test_path ${_pytest_tests})
+    get_filename_component(_test_name ${_test_path} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${_test_path}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+  endforeach()
+endif()
+
+ament_package()
diff --git a/free_fleet_examples/config/fleet/nav1_tb3_simulation_fleet_config.yaml b/free_fleet_examples/config/fleet/nav1_tb3_simulation_fleet_config.yaml
new file mode 100644
index 00000000..548ad2cc
--- /dev/null
+++ b/free_fleet_examples/config/fleet/nav1_tb3_simulation_fleet_config.yaml
@@ -0,0 +1,64 @@
+# FLEET CONFIG =================================================================
+# RMF Fleet parameters
+
+rmf_fleet:
+  name: "turtlebot3"
+  limits:
+    linear: [0.5, 0.75] # velocity, acceleration
+    angular: [0.6, 2.0] # velocity, acceleration
+  profile: # Robot profile is modelled as a circle
+    footprint: 0.3 # radius in m
+    vicinity: 0.5 # radius in m
+  reversible: True # whether robots in this fleet can reverse
+  battery_system:
+    voltage: 12.0 # V
+    capacity: 24.0 # Ahr
+    charging_current: 5.0 # A
+  mechanical_system:
+    mass: 20.0 # kg
+    moment_of_inertia: 10.0 #kgm^2
+    friction_coefficient: 0.22
+  ambient_system:
+    power: 20.0 # W
+  tool_system:
+    power: 0.0 # W
+  recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
+  recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
+  publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
+  account_for_battery_drain: True
+  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
+    loop: True
+    delivery: True
+  # actions: ["some_action_here"]
+  finishing_request: "nothing" # [park, charge, nothing]
+  responsive_wait: True # Should responsive wait be on/off for the whole fleet by default? False if not specified.
+  robots:
+    nav1_tb3:
+      charger: "tb3_charger"
+      responsive_wait: False # Should responsive wait be on/off for this specific robot? Overrides the fleet-wide setting.
+      # For Nav1RobotAdapter
+      navigation_stack: 1
+      initial_map: "L1"
+      maps:
+        L1:
+          # The nav1 robot will generally no access to this nav2_bringup package, this should point to where the nav1 map is stored.
+          map_url: "/tmp/navigation2/nav2_bringup/maps/tb3_sandbox.yaml"
+      # initial_pose: [-1.6000019311904907, -0.5031192898750305, 0]
+
+  robot_state_update_frequency: 10.0 # Hz
+
+
+# TRANSFORM CONFIG =============================================================
+# For computing transforms between Robot and RMF coordinate systems
+
+# Optional
+reference_coordinates:
+  L1:
+    rmf: [[8.9508, -6.6006],
+          [7.1006, -9.1508],
+          [12.3511, -9.2008],
+          [11.0510, -11.8010]]
+    robot: [[-1.04555, 2.5456],
+          [-2.90519, 0.00186],
+          [2.39611, -0.061773],
+          [1.08783, -2.59750]]
diff --git a/free_fleet_examples/config/fleet/nav2_tb3_simulation_fleet_config.yaml b/free_fleet_examples/config/fleet/nav2_tb3_simulation_fleet_config.yaml
new file mode 100644
index 00000000..37e8fec6
--- /dev/null
+++ b/free_fleet_examples/config/fleet/nav2_tb3_simulation_fleet_config.yaml
@@ -0,0 +1,63 @@
+# FLEET CONFIG =================================================================
+# RMF Fleet parameters
+
+rmf_fleet:
+  name: "turtlebot3"
+  limits:
+    linear: [0.5, 0.75] # velocity, acceleration
+    angular: [0.6, 2.0] # velocity, acceleration
+  profile: # Robot profile is modelled as a circle
+    footprint: 0.3 # radius in m
+    vicinity: 0.5 # radius in m
+  reversible: True # whether robots in this fleet can reverse
+  battery_system:
+    voltage: 12.0 # V
+    capacity: 24.0 # Ahr
+    charging_current: 5.0 # A
+  mechanical_system:
+    mass: 20.0 # kg
+    moment_of_inertia: 10.0 #kgm^2
+    friction_coefficient: 0.22
+  ambient_system:
+    power: 20.0 # W
+  tool_system:
+    power: 0.0 # W
+  recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
+  recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
+  publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
+  account_for_battery_drain: True
+  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
+    loop: True
+    delivery: True
+  # actions: ["some_action_here"]
+  finishing_request: "nothing" # [park, charge, nothing]
+  responsive_wait: True # Should responsive wait be on/off for the whole fleet by default? False if not specified.
+  robots:
+    nav2_tb3:
+      charger: "tb3_charger"
+      responsive_wait: False # Should responsive wait be on/off for this specific robot? Overrides the fleet-wide setting.
+      # For Nav2RobotAdapter
+      navigation_stack: 2
+      initial_map: "L1"
+      maps:
+        L1:
+          map_url: "/opt/ros/jazzy/share/nav2_bringup/maps/tb3_sandbox.yaml"
+      # initial_pose: [-1.6000019311904907, -0.5031192898750305, 0]
+
+  robot_state_update_frequency: 10.0 # Hz
+
+
+# TRANSFORM CONFIG =============================================================
+# For computing transforms between Robot and RMF coordinate systems
+
+# Optional
+reference_coordinates:
+  L1:
+    rmf: [[8.9508, -6.6006],
+          [7.1006, -9.1508],
+          [12.3511, -9.2008],
+          [11.0510, -11.8010]]
+    robot: [[-1.04555, 2.5456],
+          [-2.90519, 0.00186],
+          [2.39611, -0.061773],
+          [1.08783, -2.59750]]
diff --git a/free_fleet_examples/config/fleet/nav2_unique_multi_tb3_simulation_fleet_config.yaml b/free_fleet_examples/config/fleet/nav2_unique_multi_tb3_simulation_fleet_config.yaml
new file mode 100644
index 00000000..a51d9ed5
--- /dev/null
+++ b/free_fleet_examples/config/fleet/nav2_unique_multi_tb3_simulation_fleet_config.yaml
@@ -0,0 +1,74 @@
+# FLEET CONFIG =================================================================
+# RMF Fleet parameters
+
+rmf_fleet:
+  name: "turtlebot3"
+  limits:
+    linear: [0.5, 0.75] # velocity, acceleration
+    angular: [0.6, 2.0] # velocity, acceleration
+  profile: # Robot profile is modelled as a circle
+    footprint: 0.3 # radius in m
+    vicinity: 0.5 # radius in m
+  reversible: True # whether robots in this fleet can reverse
+  battery_system:
+    voltage: 12.0 # V
+    capacity: 24.0 # Ahr
+    charging_current: 5.0 # A
+  mechanical_system:
+    mass: 20.0 # kg
+    moment_of_inertia: 10.0 #kgm^2
+    friction_coefficient: 0.22
+  ambient_system:
+    power: 20.0 # W
+  tool_system:
+    power: 0.0 # W
+  recharge_threshold: 0.10 # Battery level below which robots in this fleet will not operate
+  recharge_soc: 1.0 # Battery level to which robots in this fleet should be charged up to during recharging tasks
+  publish_fleet_state: 10.0 # Publish frequency for fleet state, ensure that it is same as robot_state_update_frequency
+  account_for_battery_drain: True
+  task_capabilities: # Specify the types of RMF Tasks that robots in this fleet are capable of performing
+    loop: True
+    delivery: True
+  # actions: ["some_action_here"]
+  finishing_request: "nothing" # [park, charge, nothing]
+  responsive_wait: True # Should responsive wait be on/off for the whole fleet by default? False if not specified.
+  robots:
+    robot1:
+      charger: "robot1_charger"
+      responsive_wait: False # Should responsive wait be on/off for this specific robot? Overrides the fleet-wide setting.
+      # For Nav2RobotAdapter
+      navigation_stack: 2
+      initial_map: "L1"
+      maps:
+        L1:
+          map_url: "/opt/ros/jazzy/share/nav2_bringup/maps/tb3_sandbox.yaml"
+      # initial_pose: [0.056320589035749435, 0.5160754323005676, 0]
+
+    robot2:
+      charger: "robot2_charger"
+      responsive_wait: False # Should responsive wait be on/off for this specific robot? Overrides the fleet-wide setting.
+      # For Nav2RobotAdapter
+      navigation_stack: 2
+      initial_map: "L1"
+      maps:
+        L1:
+          map_url: "/opt/ros/jazzy/share/nav2_bringup/maps/tb3_sandbox.yaml"
+      # initial_pose: [-0.03754809871315956, -0.5848855972290039, 0]
+
+  robot_state_update_frequency: 10.0 # Hz
+
+
+# TRANSFORM CONFIG =============================================================
+# For computing transforms between Robot and RMF coordinate systems
+
+# Optional
+reference_coordinates:
+  L1:
+    rmf: [[8.9508, -6.6006],
+          [7.1006, -9.1508],
+          [12.3511, -9.2008],
+          [11.0510, -11.8010]]
+    robot: [[-1.04555, 2.5456],
+          [-2.90519, 0.00186],
+          [2.39611, -0.061773],
+          [1.08783, -2.59750]]
diff --git a/free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5 b/free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5
new file mode 100644
index 00000000..9f20fc40
--- /dev/null
+++ b/free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5
@@ -0,0 +1,30 @@
+{
+  plugins: {
+    ros1: {
+      bridge_namespace: "nav1_tb3",
+      subscriber_bridging_mode: "disabled",
+      publisher_bridging_mode: "disabled",
+      service_bridging_mode: "disabled",
+      client_bridging_mode: "disabled",
+      // Zenoh -> ROS 1
+      subscriber_topic_custom_bridging_mode: {
+        "/move_base_simple/goal": "auto",
+        "/move_base/cancel": "auto",
+      },
+      // ROS 1 -> Zenoh
+      publisher_topic_custom_bridging_mode: {
+        "/tf": "auto",
+        "/battery_state": "auto",
+        "/move_base/status": "auto"
+      },
+    },
+  },
+  // Zenoh related configurations
+  mode: "client",
+  connect: {
+    endpoints: []
+  },
+  listen: {
+    endpoints: []
+  },
+}
diff --git a/free_fleet_examples/config/zenoh/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5 b/free_fleet_examples/config/zenoh/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5
new file mode 100644
index 00000000..9057cb28
--- /dev/null
+++ b/free_fleet_examples/config/zenoh/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5
@@ -0,0 +1,24 @@
+{
+  plugins: {
+    ros2dds: {
+      namespace: "/nav2_tb3",
+      allow: {
+        publishers: [".*/tf", ".*/battery_state"],
+        subscribers: [],
+        service_servers: [],
+        service_clients: [],
+        action_servers: [".*/navigate_to_pose"],
+        action_clients: [],
+      },
+      pub_max_frequencies: [".*/navigate_to_pose/*=1", ".*/battery_state=1"],
+    },
+  },
+  // Zenoh related configurations
+  mode: "client",
+  connect: {
+    endpoints: []
+  },
+  listen: {
+    endpoints: []
+  },
+}
diff --git a/free_fleet_examples/config/zenoh/nav2_unique_multi_tb3_zenoh_bridge_ros2dds_client_config.json5 b/free_fleet_examples/config/zenoh/nav2_unique_multi_tb3_zenoh_bridge_ros2dds_client_config.json5
new file mode 100644
index 00000000..7296e427
--- /dev/null
+++ b/free_fleet_examples/config/zenoh/nav2_unique_multi_tb3_zenoh_bridge_ros2dds_client_config.json5
@@ -0,0 +1,23 @@
+{
+  plugins: {
+    ros2dds: {
+      allow: {
+        publishers: [".*/tf", ".*/battery_state"],
+        subscribers: [],
+        service_servers: [],
+        service_clients: [],
+        action_servers: [".*/navigate_to_pose"],
+        action_clients: [],
+      },
+      pub_max_frequencies: [".*/navigate_to_pose/*=1", ".*/battery_state=1"],
+    },
+  },
+  // Zenoh related configurations
+  mode: "client",
+  connect: {
+    endpoints: []
+  },
+  listen: {
+    endpoints: []
+  },
+}
diff --git a/free_fleet_examples/free_fleet_examples/__init__.py b/free_fleet_examples/free_fleet_examples/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet_examples/free_fleet_examples/nav1_get_tf.py b/free_fleet_examples/free_fleet_examples/nav1_get_tf.py
new file mode 100644
index 00000000..ce2681ff
--- /dev/null
+++ b/free_fleet_examples/free_fleet_examples/nav1_get_tf.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import argparse
+import sys
+import time
+
+
+from free_fleet_adapter.nav1_robot_adapter import Nav1TfHandler
+import rclpy
+from tf2_ros import Buffer
+
+import zenoh
+
+
+def main(argv=sys.argv):
+    rclpy.init(args=argv)
+    args_without_ros = rclpy.utilities.remove_ros_args(argv)
+    node = rclpy.node.Node('nav1_get_tf')
+
+    parser = argparse.ArgumentParser(
+        prog='nav1_get_tf',
+        description='Zenoh/ROS1 tf example')
+    parser.add_argument('--zenoh-config', '-c', dest='config', metavar='FILE',
+                        type=str, help='A configuration file.')
+    parser.add_argument('--namespace', '-n', type=str, default='')
+    parser.add_argument(
+        '-b', '--base-footprint-frame', default='base_footprint'
+    )
+    parser.add_argument('-m', '--map-frame', default='map')
+
+    args = parser.parse_args(args_without_ros[1:])
+
+    # Create Zenoh Config from file if provoded, or a default one otherwise
+    conf = zenoh.Config.from_file(args.config) \
+        if args.config is not None else zenoh.Config()
+
+    zenoh.try_init_log_from_env()
+
+    tf_buffer = Buffer()
+
+    # Open Zenoh Session
+    with zenoh.open(conf) as session:
+        info = session.info
+        print(f'zid: {info.zid()}')
+        print(f'routers: {info.routers_zid()}')
+        print(f'peers: {info.peers_zid()}')
+
+        tf_handler = Nav1TfHandler(args.namespace, session, tf_buffer, node)
+
+        try:
+            while True:
+                transform = tf_handler.get_transform()
+                if transform is None:
+                    print('Unable to get transform between base_footprint and'
+                          ' map')
+                else:
+                    print(transform)
+                time.sleep(1)
+        except (KeyboardInterrupt):
+            pass
+        finally:
+            session.close()
+
+
+if __name__ == '__main__':
+    main(sys.argv)
diff --git a/free_fleet_examples/free_fleet_examples/nav1_move_base_cancel.py b/free_fleet_examples/free_fleet_examples/nav1_move_base_cancel.py
new file mode 100644
index 00000000..12dad578
--- /dev/null
+++ b/free_fleet_examples/free_fleet_examples/nav1_move_base_cancel.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import argparse
+import sys
+
+from free_fleet_adapter.nav1_robot_adapter import Nav1MoveBaseHandler
+import rclpy
+
+import zenoh
+
+
+def main(argv=sys.argv):
+    rclpy.init(args=argv)
+    args_without_ros = rclpy.utilities.remove_ros_args(argv)
+    node = rclpy.node.Node('nav1_move_base_cancel')
+
+    parser = argparse.ArgumentParser(
+        prog='nav1_move_base_cancel',
+        description='Zenoh/ROS1 move_base cancel example')
+    parser.add_argument('--zenoh-config', '-c', dest='config', metavar='FILE',
+                        type=str, help='A configuration file.')
+    parser.add_argument('--namespace', '-n', type=str, default='')
+    parser.add_argument('--goal-id', '-g', type=str)
+
+    args = parser.parse_args(args_without_ros[1:])
+
+    # Create Zenoh Config from file if provoded, or a default one otherwise
+    conf = zenoh.Config.from_file(args.config) \
+        if args.config is not None else zenoh.Config()
+
+    zenoh.try_init_log_from_env()
+
+    # Open Zenoh Session
+    with zenoh.open(conf) as session:
+        info = session.info
+        print(f'zid: {info.zid()}')
+        print(f'routers: {info.routers_zid()}')
+        print(f'peers: {info.peers_zid()}')
+
+        move_base_handler = Nav1MoveBaseHandler(args.namespace, session, node)
+        move_base_handler.cancel_navigation(
+            args.goal_id
+        )
+
+
+if __name__ == '__main__':
+    main(sys.argv)
diff --git a/free_fleet_examples/free_fleet_examples/nav1_move_base_simple_goal.py b/free_fleet_examples/free_fleet_examples/nav1_move_base_simple_goal.py
new file mode 100644
index 00000000..077b290c
--- /dev/null
+++ b/free_fleet_examples/free_fleet_examples/nav1_move_base_simple_goal.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import argparse
+import sys
+import time
+
+
+from free_fleet_adapter.nav1_robot_adapter import Nav1MoveBaseHandler
+import rclpy
+
+import zenoh
+
+
+def main(argv=sys.argv):
+    rclpy.init(args=argv)
+    args_without_ros = rclpy.utilities.remove_ros_args(argv)
+    node = rclpy.node.Node('nav1_move_base_simple_goal')
+
+    parser = argparse.ArgumentParser(
+        prog='nav1_move_base_simple_goal',
+        description='Zenoh/ROS1 move_base simple goal example')
+    parser.add_argument('--zenoh-config', '-c', dest='config', metavar='FILE',
+                        type=str, help='A configuration file.')
+    parser.add_argument('--namespace', '-n', type=str, default='')
+    parser.add_argument('--frame-id', '-f', type=str, default='map')
+    parser.add_argument('-x', type=float)
+    parser.add_argument('-y', type=float)
+    parser.add_argument('--timeout-sec', '-t', type=float, default=3.0)
+
+    args = parser.parse_args(args_without_ros[1:])
+
+    # Create Zenoh Config from file if provoded, or a default one otherwise
+    conf = zenoh.Config.from_file(args.config) \
+        if args.config is not None else zenoh.Config()
+
+    zenoh.try_init_log_from_env()
+
+    # Open Zenoh Session
+    with zenoh.open(conf) as session:
+        info = session.info
+        print(f'zid: {info.zid()}')
+        print(f'routers: {info.routers_zid()}')
+        print(f'peers: {info.peers_zid()}')
+
+        move_base_handler = Nav1MoveBaseHandler(args.namespace, session, node)
+
+        # Wait for move_base/status to be received
+        time.sleep(3)
+
+        goal_id = move_base_handler.navigate_to_pose(
+            args.x,
+            args.y,
+            0.0,
+            0.0,
+            args.timeout_sec
+        )
+        if goal_id is not None:
+            print(f'goal_id: [{goal_id}]')
+        else:
+            print('Timed out getting goal_id')
+
+
+if __name__ == '__main__':
+    main(sys.argv)
diff --git a/free_fleet_examples/free_fleet_examples/nav2_cancel_all_goals.py b/free_fleet_examples/free_fleet_examples/nav2_cancel_all_goals.py
new file mode 100755
index 00000000..5df8a835
--- /dev/null
+++ b/free_fleet_examples/free_fleet_examples/nav2_cancel_all_goals.py
@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import sys
+
+from free_fleet.ros2_types import ActionMsgs_CancelGoal_Response
+from free_fleet.utils import make_nav2_cancel_all_goals_request, namespacify
+
+import zenoh
+
+
+def main(argv=sys.argv):
+    parser = argparse.ArgumentParser(
+        prog='cancel_all_goals',
+        description='Zenoh/ROS2 cancel all goals example')
+    parser.add_argument('--zenoh-config', '-c', dest='config', metavar='FILE',
+                        type=str, help='A configuration file.')
+    parser.add_argument('--namespace', '-n', type=str, default='')
+
+    args = parser.parse_args()
+
+    # Create Zenoh Config from file if provoded, or a default one otherwise
+    conf = zenoh.Config.from_file(args.config) \
+        if args.config is not None else zenoh.Config()
+    # Open Zenoh Session
+    session = zenoh.open(conf)
+
+    req = make_nav2_cancel_all_goals_request()
+
+    # Send the query with the serialized request
+    replies = session.get(
+        namespacify(
+            'navigate_to_pose/_action/cancel_goal',
+            args.namespace
+        ),
+        payload=req.serialize()
+    )
+    # Zenoh could get several replies for a request (e.g. from several
+    # 'Service Servers' using the same name)
+    for reply in replies:
+        # Deserialize the response
+        rep = ActionMsgs_CancelGoal_Response.deserialize(
+            reply.ok.payload.to_bytes()
+        )
+        print('Return code: %d' % rep.return_code)
+
+    session.close()
+
+
+if __name__ == '__main__':
+    main(sys.argv)
diff --git a/free_fleet_examples/free_fleet_examples/nav2_get_tf.py b/free_fleet_examples/free_fleet_examples/nav2_get_tf.py
new file mode 100755
index 00000000..54a8ddbc
--- /dev/null
+++ b/free_fleet_examples/free_fleet_examples/nav2_get_tf.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import sys
+import time
+
+from free_fleet_adapter.nav2_robot_adapter import Nav2TfHandler
+import rclpy
+from tf2_ros import Buffer
+
+import zenoh
+
+
+def main(argv=sys.argv):
+    rclpy.init(args=argv)
+    args_without_ros = rclpy.utilities.remove_ros_args(argv)
+    node = rclpy.node.Node('nav2_get_tf')
+
+    parser = argparse.ArgumentParser(
+        prog='get_tf',
+        description='Zenoh/ROS2 tf example')
+    parser.add_argument('--zenoh-config', '-c', dest='config', metavar='FILE',
+                        type=str, help='A configuration file.')
+    parser.add_argument('--namespace', '-n', type=str, default='')
+    parser.add_argument(
+        '-b', '--base-footprint-frame', default='base_footprint'
+    )
+    parser.add_argument('-m', '--map-frame', default='map')
+
+    args = parser.parse_args(args_without_ros[1:])
+
+    # Create Zenoh Config from file if provoded, or a default one otherwise
+    conf = zenoh.Config.from_file(args.config) \
+        if args.config is not None else zenoh.Config()
+
+    zenoh.try_init_log_from_env()
+
+    tf_buffer = Buffer()
+
+    # Open Zenoh Session
+    with zenoh.open(conf) as session:
+        info = session.info
+        print(f'zid: {info.zid()}')
+        print(f'routers: {info.routers_zid()}')
+        print(f'peers: {info.peers_zid()}')
+
+        tf_handler = Nav2TfHandler(args.namespace, session, tf_buffer, node)
+
+        try:
+            while True:
+                transform = tf_handler.get_transform()
+                if transform is None:
+                    print('Unable to get transform between base_footprint and'
+                          ' map')
+                else:
+                    print(transform)
+                time.sleep(1)
+        except (KeyboardInterrupt):
+            pass
+        finally:
+            session.close()
+
+
+if __name__ == '__main__':
+    main(sys.argv)
diff --git a/free_fleet_examples/free_fleet_examples/nav2_send_navigate_to_pose.py b/free_fleet_examples/free_fleet_examples/nav2_send_navigate_to_pose.py
new file mode 100755
index 00000000..edf86557
--- /dev/null
+++ b/free_fleet_examples/free_fleet_examples/nav2_send_navigate_to_pose.py
@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import sys
+import time
+
+from free_fleet.ros2_types import (
+    GeometryMsgs_Point,
+    GeometryMsgs_Pose,
+    GeometryMsgs_PoseStamped,
+    GeometryMsgs_Quaternion,
+    GoalStatus,
+    Header,
+    NavigateToPose_Feedback,
+    NavigateToPose_GetResult_Request,
+    NavigateToPose_GetResult_Response,
+    NavigateToPose_SendGoal_Request,
+    NavigateToPose_SendGoal_Response,
+    Time,
+)
+from free_fleet.utils import namespacify
+
+import numpy as np
+import zenoh
+
+
+def feedback_callback(sample: zenoh.Sample):
+    feedback = NavigateToPose_Feedback.deserialize(sample.payload.to_bytes())
+    print(f'Distance remaining: {feedback.distance_remaining}')
+
+
+def main(argv=sys.argv):
+    parser = argparse.ArgumentParser(
+        prog='navigate_to_pose_action_client',
+        description='Zenoh/ROS2 navigate_to_pose_action_client example')
+    parser.add_argument('--zenoh-config', '-c', dest='config', metavar='FILE',
+                        type=str, help='A configuration file.')
+    parser.add_argument('--namespace', '-n', type=str, default='')
+    parser.add_argument('--frame-id', '-f', type=str, default='map')
+    parser.add_argument('-x', type=float)
+    parser.add_argument('-y', type=float)
+
+    args = parser.parse_args()
+
+    # Create Zenoh Config from file if provoded, or a default one otherwise
+    conf = zenoh.Config.from_file(args.config) \
+        if args.config is not None else zenoh.Config()
+    # Open Zenoh Session
+    session = zenoh.open(conf)
+
+    # Declare a subscriber for feedbacks
+    feedback_sub = session.declare_subscriber(
+        namespacify('navigate_to_pose/_action/feedback', args.namespace),
+        feedback_callback
+    )
+
+    stamp = Time(sec=0, nanosec=0)
+    header = Header(stamp=stamp, frame_id=args.frame_id)
+
+    position = GeometryMsgs_Point(x=args.x, y=args.y, z=0)
+    orientation = GeometryMsgs_Quaternion()
+    pose = GeometryMsgs_Pose(position=position, orientation=orientation)
+
+    pose_stamped = GeometryMsgs_PoseStamped(header=header, pose=pose)
+
+    goal_id = np.random.randint(0, 255, size=(16)).astype('uint8').tolist()
+    print(goal_id)
+    req = NavigateToPose_SendGoal_Request(
+        goal_id=goal_id,
+        pose=pose_stamped,
+        behavior_tree=''
+    )
+
+    # Send the query with the serialized request
+    print('Sending goal')
+    replies = session.get(
+        namespacify('navigate_to_pose/_action/send_goal', args.namespace),
+        payload=req.serialize(),
+    )
+
+    # Zenoh could get several replies for a request (e.g. from several
+    # 'Service Servers' using the same name)
+    for reply in replies:
+        if not reply.ok:
+            print('Reply was not ok!')
+            continue
+        print('handling a reply!')
+        # Deserialize the response
+        rep = NavigateToPose_SendGoal_Response.deserialize(
+            reply.ok.payload.to_bytes()
+        )
+        if not rep.accepted:
+            print('Goal rejected')
+            return
+
+    print('Goal accepted by server, waiting for result')
+
+    req = NavigateToPose_GetResult_Request(goal_id)
+    try:
+        while True:
+            # Send the query with the serialized request
+            replies = session.get(
+                namespacify(
+                    'navigate_to_pose/_action/get_result',
+                    args.namespace),
+                payload=req.serialize(),
+                timeout=5.5
+            )
+
+            # Zenoh could get several replies for a request (e.g. from several
+            # 'Service Servers' using the same name)
+            for reply in replies:
+                try:
+                    # Deserialize the response
+                    rep = NavigateToPose_GetResult_Response.deserialize(
+                        reply.ok.payload.to_bytes()
+                    )
+                    print(f'Result: {rep.status}')
+                    if rep.status == GoalStatus.STATUS_ABORTED.value:
+                        print(
+                            'Received (ERROR: "Plan aborted by '
+                            'planner_server")'
+                        )
+                        break
+                    if rep.status == GoalStatus.STATUS_SUCCEEDED.value:
+                        break
+                except Exception as e:
+                    print(e)
+                    print("Received (ERROR: '{}')".format(
+                        reply.err.payload.to_string()))
+                    continue
+
+            time.sleep(1)
+    except (KeyboardInterrupt):
+        pass
+    finally:
+        feedback_sub.undeclare()
+        session.close()
+
+
+if __name__ == '__main__':
+    main(sys.argv)
diff --git a/free_fleet_examples/launch/nav1_tb3_simulation_fleet_adapter.launch.xml b/free_fleet_examples/launch/nav1_tb3_simulation_fleet_adapter.launch.xml
new file mode 100644
index 00000000..6fad5a53
--- /dev/null
+++ b/free_fleet_examples/launch/nav1_tb3_simulation_fleet_adapter.launch.xml
@@ -0,0 +1,14 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
+
+  <group>
+    <include file="$(find-pkg-share free_fleet_adapter)/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="false"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share free_fleet_examples)/maps/turtlebot3_world/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/config/fleet/nav1_tb3_simulation_fleet_config.yaml"/>
+      <arg name="server_uri" value="$(var server_uri)"/>
+    </include>
+  </group>
+</launch>
diff --git a/free_fleet_examples/launch/nav2_tb3_simulation_fleet_adapter.launch.xml b/free_fleet_examples/launch/nav2_tb3_simulation_fleet_adapter.launch.xml
new file mode 100644
index 00000000..5c9e208b
--- /dev/null
+++ b/free_fleet_examples/launch/nav2_tb3_simulation_fleet_adapter.launch.xml
@@ -0,0 +1,14 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
+
+  <group>
+    <include file="$(find-pkg-share free_fleet_adapter)/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="false"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share free_fleet_examples)/maps/turtlebot3_world/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/config/fleet/nav2_tb3_simulation_fleet_config.yaml"/>
+      <arg name="server_uri" value="$(var server_uri)"/>
+    </include>
+  </group>
+</launch>
diff --git a/free_fleet_examples/launch/nav2_unique_multi_tb3_simulation_fleet_adapter.launch.xml b/free_fleet_examples/launch/nav2_unique_multi_tb3_simulation_fleet_adapter.launch.xml
new file mode 100644
index 00000000..b4935d50
--- /dev/null
+++ b/free_fleet_examples/launch/nav2_unique_multi_tb3_simulation_fleet_adapter.launch.xml
@@ -0,0 +1,14 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
+
+  <group>
+    <include file="$(find-pkg-share free_fleet_adapter)/launch/fleet_adapter.launch.xml">
+      <arg name="use_sim_time" value="false"/>
+      <arg name="nav_graph_file" value="$(find-pkg-share free_fleet_examples)/maps/turtlebot3_world/nav_graphs/0.yaml" />
+      <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/config/fleet/nav2_unique_multi_tb3_simulation_fleet_config.yaml"/>
+      <arg name="server_uri" value="$(var server_uri)"/>
+    </include>
+  </group>
+</launch>
diff --git a/free_fleet_examples/launch/turtlebot3_world_rmf_common.launch.xml b/free_fleet_examples/launch/turtlebot3_world_rmf_common.launch.xml
new file mode 100644
index 00000000..fcfc1ad3
--- /dev/null
+++ b/free_fleet_examples/launch/turtlebot3_world_rmf_common.launch.xml
@@ -0,0 +1,12 @@
+<?xml version='1.0' ?>
+
+<launch>
+  <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
+
+  <include file="$(find-pkg-share rmf_demos)/common.launch.xml">
+    <arg name="use_sim_time" value="false"/>
+    <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/turtlebot3_world/turtlebot3_world.building.yaml"/>
+    <arg name="server_uri" value="$(var server_uri)"/>
+    <arg name="headless" value="true"/>
+  </include>
+</launch>
diff --git a/free_fleet_examples/maps/turtlebot3_world/turtlebot3_world.building.yaml b/free_fleet_examples/maps/turtlebot3_world/turtlebot3_world.building.yaml
new file mode 100644
index 00000000..0a82e303
--- /dev/null
+++ b/free_fleet_examples/maps/turtlebot3_world/turtlebot3_world.building.yaml
@@ -0,0 +1,108 @@
+coordinate_system: reference_image
+crowd_sim:
+  agent_groups:
+    - {agents_name: [], agents_number: 0, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0}
+  agent_profiles:
+    - {ORCA_tau: 1, ORCA_tauObst: 0.40000000000000002, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25}
+  enable: 0
+  goal_sets: []
+  model_types: []
+  obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh}
+  states:
+    - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""}
+  transitions: []
+  update_time_step: 0.10000000000000001
+graphs:
+  {}
+levels:
+  L1:
+    drawing:
+      filename: turtlebot3_world.png
+    elevation: 0
+    lanes:
+      - [19, 20, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [20, 21, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [21, 22, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [22, 23, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [23, 24, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [24, 25, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [25, 26, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [26, 27, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [27, 18, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [18, 28, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [28, 29, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [29, 19, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [29, 30, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [30, 31, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [32, 33, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [33, 28, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [27, 33, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [30, 20, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [26, 32, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [31, 21, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [31, 23, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [32, 24, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [33, 34, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [34, 30, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [32, 35, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+      - [35, 31, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
+    layers:
+      {}
+    measurements:
+      - [16, 17, {distance: [3, 19.199999999999999]}]
+    vertices:
+      - [142.25299999999999, 183.91, 0, ""]
+      - [165.691, 143.309, 0, ""]
+      - [173.25800000000001, 143.124, 0, ""]
+      - [179.16399999999999, 132.97399999999999, 0, ""]
+      - [223.82499999999999, 133.52799999999999, 0, ""]
+      - [229.54599999999999, 144.601, 0, ""]
+      - [237.482, 144.97, 0, ""]
+      - [254.27600000000001, 176.15899999999999, 0, ""]
+      - [247.81700000000001, 184.279, 0, ""]
+      - [253.35300000000001, 196.09, 0, ""]
+      - [235.636, 225.249, 0, ""]
+      - [228.43899999999999, 225.61799999999999, 0, ""]
+      - [221.79499999999999, 236.13800000000001, 0, ""]
+      - [178.42500000000001, 235.40000000000001, 0, ""]
+      - [172.33500000000001, 224.511, 0, ""]
+      - [164.76900000000001, 224.327, 0, ""]
+      - [0.025999999999999999, 0.0080000000000000002, 0, ""]
+      - [383.99200000000002, 0.012999999999999999, 0, ""]
+      - [169.56399999999999, 151.898, 0, north_west]
+      - [231.56700000000001, 152.43600000000001, 0, north_east]
+      - [235.44200000000001, 173.749, 0, ""]
+      - [235.76499999999999, 195.16999999999999, 0, ""]
+      - [231.99700000000001, 214.11600000000001, 0, south_east]
+      - [212.191, 219.821, 0, ""]
+      - [190.124, 219.28299999999999, 0, ""]
+      - [167.94900000000001, 212.06999999999999, 0, south_west]
+      - [163.96700000000001, 196.24700000000001, 0, tb3_charger, {is_charger: [4, true]}]
+      - [164.28899999999999, 174.934, 0, ""]
+      - [188.29400000000001, 147.054, 0, ""]
+      - [212.62100000000001, 147.26900000000001, 0, ""]
+      - [211.97499999999999, 172.458, 0, ""]
+      - [212.083, 195.27799999999999, 0, ""]
+      - [188.94, 195.06299999999999, 0, ""]
+      - [188.94, 173.642, 0, ""]
+      - [201.05600000000001, 173.447, 0, robot1_charger, {is_charger: [4, true]}]
+      - [200.43299999999999, 195.24199999999999, 0, robot2_charger, {is_charger: [4, true]}]
+    walls:
+      - [0, 1, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [1, 2, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [2, 3, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [3, 4, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [4, 5, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [5, 6, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [6, 7, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [7, 8, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [8, 9, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [9, 10, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [10, 11, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [11, 12, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [12, 13, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [13, 14, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [14, 15, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+      - [15, 0, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, default], texture_scale: [3, 1], texture_width: [3, 1]}]
+lifts: {}
+name: turtlebot3_world
diff --git a/free_fleet_examples/maps/turtlebot3_world/turtlebot3_world.png b/free_fleet_examples/maps/turtlebot3_world/turtlebot3_world.png
new file mode 100644
index 00000000..93e3f83f
Binary files /dev/null and b/free_fleet_examples/maps/turtlebot3_world/turtlebot3_world.png differ
diff --git a/free_fleet_examples/package.xml b/free_fleet_examples/package.xml
new file mode 100644
index 00000000..b226bad5
--- /dev/null
+++ b/free_fleet_examples/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>free_fleet_examples</name>
+  <version>2.0.0</version>
+  <description>A package containing example maps and configs for running free fleet</description>
+  <maintainer email="aaronchong@intrinsic.ai">Aaron Chong</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rmf_building_map_tools</buildtool_depend>
+  <buildtool_depend>ros2run</buildtool_depend>
+
+  <exec_depend>free_fleet</exec_depend>
+  <exec_depend>free_fleet_adapter</exec_depend>
+  <exec_depend>rmf_demos</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/free_fleet_examples/resource/free_fleet_examples b/free_fleet_examples/resource/free_fleet_examples
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet_examples/tests/__init__.py b/free_fleet_examples/tests/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/free_fleet_examples/tests/test_copyright.py b/free_fleet_examples/tests/test_copyright.py
new file mode 100644
index 00000000..cc8ff03f
--- /dev/null
+++ b/free_fleet_examples/tests/test_copyright.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/free_fleet_examples/tests/test_flake8.py b/free_fleet_examples/tests/test_flake8.py
new file mode 100644
index 00000000..26030113
--- /dev/null
+++ b/free_fleet_examples/tests/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, 'Found %d code style errors / warnings:\n' % len(
+        errors
+    ) + '\n'.join(errors)
diff --git a/free_fleet_examples/tests/test_pep257.py b/free_fleet_examples/tests/test_pep257.py
new file mode 100644
index 00000000..b234a384
--- /dev/null
+++ b/free_fleet_examples/tests/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/free_fleet_server_ros2/CHANGELOG.rst b/free_fleet_server_ros2/CHANGELOG.rst
deleted file mode 100644
index a572f25c..00000000
--- a/free_fleet_server_ros2/CHANGELOG.rst
+++ /dev/null
@@ -1,11 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package free_fleet_server_ros2
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Forthcoming
------------
-
-1.0.0 (2020-06-11)
-------------------
-* Provides a ROS 2 implementation of a free fleet server that is able to interact with RMF using rmf_fleet_msgs, as well as work with the ROS 1 client implementation.
-* Contributors: Aaron Chong
diff --git a/free_fleet_server_ros2/CMakeLists.txt b/free_fleet_server_ros2/CMakeLists.txt
deleted file mode 100644
index 9f2acf41..00000000
--- a/free_fleet_server_ros2/CMakeLists.txt
+++ /dev/null
@@ -1,63 +0,0 @@
-cmake_minimum_required(VERSION 3.5.0)
-
-project(free_fleet_server_ros2 LANGUAGES C CXX)
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # we dont use add_compile_options with pedantic in message packages
-  # because the Python C extensions dont comply with it
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
-endif()
-
-find_package(ament_cmake QUIET)
-
-if (ament_cmake_FOUND)
-  find_package(builtin_interfaces REQUIRED)
-  find_package(rclcpp REQUIRED)
-  find_package(rmf_fleet_msgs REQUIRED)
-  find_package(free_fleet REQUIRED)
-  find_package(Eigen3 REQUIRED)
-
-  add_executable(free_fleet_server_ros2
-    src/main.cpp
-    src/utilities.cpp
-    src/ServerNode.cpp
-    src/ServerNodeConfig.cpp
-  )
-  target_link_libraries(free_fleet_server_ros2
-    ${free_fleet_LIBRARIES}
-    Eigen3::Eigen
-  )
-  target_include_directories(free_fleet_server_ros2
-    PRIVATE
-      ${free_fleet_INCLUDE_DIRS}
-  )
-  ament_target_dependencies(free_fleet_server_ros2
-    rclcpp
-    rmf_fleet_msgs
-  )
-
-  
-  install(
-    TARGETS free_fleet_server_ros2
-    RUNTIME DESTINATION lib/free_fleet_server_ros2
-    LIBRARY DESTINATION lib
-    ARCHIVE DESTINATION lib
-  )
-
-  ament_package()
-
-else()
-  message("ament_cmake not found so skipping this ROS2 package")
-endif()
-
-# -----------------------------------------------------------------------------
-
-
-# -----------------------------------------------------------------------------
-
-
diff --git a/free_fleet_server_ros2/package.xml b/free_fleet_server_ros2/package.xml
deleted file mode 100644
index eda51639..00000000
--- a/free_fleet_server_ros2/package.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>free_fleet_server_ros2</name>
-  <version>1.3.0</version>
-  <description>Free Fleet server ROS 2 wrapper</description>
-  <maintainer email="mquigley@openrobotics.org">Morgan Quigley</maintainer>
-  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
-  <license>Apache License 2.0</license>
-  <author email="morgan@openrobotics.org">Morgan Quigley</author>
-  <author email="aaron@openrobotics.org">Aaron Chong</author>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-  <build_depend>builtin_interfaces</build_depend>
-
-  <depend>rclcpp</depend>
-  <depend>rmf_fleet_msgs</depend>
-  <depend>free_fleet</depend>
-
-  <test_depend>ament_lint_common</test_depend>
-
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
-
diff --git a/free_fleet_server_ros2/src/ServerNode.cpp b/free_fleet_server_ros2/src/ServerNode.cpp
deleted file mode 100644
index 2c8399f9..00000000
--- a/free_fleet_server_ros2/src/ServerNode.cpp
+++ /dev/null
@@ -1,412 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <chrono>
-
-#include <Eigen/Geometry>
-
-#include <free_fleet/Server.hpp>
-#include <free_fleet/ServerConfig.hpp>
-
-#include <free_fleet/messages/ModeRequest.hpp>
-#include <free_fleet/messages/PathRequest.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-
-#include "utilities.hpp"
-#include "ServerNode.hpp"
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-ServerNode::SharedPtr ServerNode::make(
-    const ServerNodeConfig& _config, const rclcpp::NodeOptions& _node_options)
-{
-  // Starting the free fleet server node
-  SharedPtr server_node(new ServerNode(_config, _node_options));
-
-  auto start_time = std::chrono::steady_clock::now();
-  auto end_time = std::chrono::steady_clock::now();
-  while (
-      std::chrono::duration_cast<std::chrono::seconds>(end_time - start_time)
-          .count() < 10)
-  {
-    rclcpp::spin_some(server_node);
-
-    server_node->setup_config();
-    if (server_node->is_ready())
-      break;
-    RCLCPP_INFO(
-        server_node->get_logger(), "waiting for configuration parameters.");
-
-    end_time = std::chrono::steady_clock::now();
-    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
-  }
-
-  if (!server_node->is_ready())
-  {
-    RCLCPP_ERROR(
-        server_node->get_logger(), "unable to initialize parameters.");
-    return nullptr;
-  }
-  server_node->print_config();
-
-  // Starting the free fleet server
-  ServerConfig server_config =
-      server_node->server_node_config.get_server_config();
-  Server::SharedPtr server = Server::make(server_config);
-  if (!server)
-    return nullptr;
-
-  server_node->start(Fields{
-    std::move(server)
-  });
-
-  return server_node;
-}
-
-ServerNode::~ServerNode()
-{}
-
-ServerNode::ServerNode(
-    const ServerNodeConfig& _config,
-    const rclcpp::NodeOptions& _node_options) :
-  Node(_config.fleet_name + "_node", _node_options),
-  server_node_config(_config)
-{}
-
-void ServerNode::print_config()
-{
-  server_node_config.print_config();
-}
-
-void ServerNode::setup_config()
-{
-  get_parameter("fleet_name", server_node_config.fleet_name);
-  get_parameter("fleet_state_topic", server_node_config.fleet_state_topic);
-  get_parameter("mode_request_topic", server_node_config.mode_request_topic);
-  get_parameter("path_request_topic", server_node_config.path_request_topic);
-  get_parameter(
-      "destination_request_topic",
-      server_node_config.destination_request_topic);
-  get_parameter("dds_domain", server_node_config.dds_domain);
-  get_parameter("dds_robot_state_topic",
-      server_node_config.dds_robot_state_topic);
-  get_parameter("dds_mode_request_topic",
-      server_node_config.dds_mode_request_topic);
-  get_parameter("dds_path_request_topic",
-      server_node_config.dds_path_request_topic);
-  get_parameter(
-      "dds_destination_request_topic",
-      server_node_config.dds_destination_request_topic);
-  get_parameter("update_state_frequency",
-      server_node_config.update_state_frequency);
-  get_parameter(
-      "publish_state_frequency", server_node_config.publish_state_frequency);
-
-  get_parameter("translation_x", server_node_config.translation_x);
-  get_parameter("translation_y", server_node_config.translation_y);
-  get_parameter("rotation", server_node_config.rotation);
-  get_parameter("scale", server_node_config.scale);
-}
-
-bool ServerNode::is_ready()
-{
-  if (server_node_config.fleet_name == "fleet_name")
-    return false;
-  return true;
-}
-
-void ServerNode::start(Fields _fields)
-{
-  fields = std::move(_fields);
-
-  {
-    WriteLock robot_states_lock(robot_states_mutex);
-    robot_states.clear();
-  }
-
-  using namespace std::chrono_literals;
-
-  // --------------------------------------------------------------------------
-  // First callback group that handles getting updates from all the clients
-  // available
-
-  update_state_callback_group = create_callback_group(
-      rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  update_state_timer = create_wall_timer(
-      100ms, std::bind(&ServerNode::update_state_callback, this),
-      update_state_callback_group);
-
-  // --------------------------------------------------------------------------
-  // Second callback group that handles publishing fleet states to RMF, and
-  // handling requests from RMF to be sent down to the clients
-
-  fleet_state_pub_callback_group = create_callback_group(
-      rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  fleet_state_pub =
-      create_publisher<rmf_fleet_msgs::msg::FleetState>(
-          server_node_config.fleet_state_topic, 10);
-
-  fleet_state_pub_timer = create_wall_timer(
-      std::chrono::seconds(1) / server_node_config.publish_state_frequency,
-      std::bind(&ServerNode::publish_fleet_state, this),
-      fleet_state_pub_callback_group);
-
-  // --------------------------------------------------------------------------
-  // Mode request handling
-
-  auto mode_request_sub_opt = rclcpp::SubscriptionOptions();
-
-  mode_request_sub_opt.callback_group = fleet_state_pub_callback_group;
-
-  mode_request_sub = create_subscription<rmf_fleet_msgs::msg::ModeRequest>(
-      server_node_config.mode_request_topic, rclcpp::QoS(10),
-      [&](rmf_fleet_msgs::msg::ModeRequest::UniquePtr msg)
-      {
-        handle_mode_request(std::move(msg));
-      },
-      mode_request_sub_opt);
-
-  // --------------------------------------------------------------------------
-  // Path reqeust handling
-
-  auto path_request_sub_opt = rclcpp::SubscriptionOptions();
-
-  path_request_sub_opt.callback_group = fleet_state_pub_callback_group;
-
-  path_request_sub = create_subscription<rmf_fleet_msgs::msg::PathRequest>(
-      server_node_config.path_request_topic, rclcpp::QoS(10),
-      [&](rmf_fleet_msgs::msg::PathRequest::UniquePtr msg)
-      {
-        handle_path_request(std::move(msg));
-      },
-      path_request_sub_opt);
-
-  // --------------------------------------------------------------------------
-  // Destination reqeust handling
-
-  auto destination_request_sub_opt = rclcpp::SubscriptionOptions();
-
-  destination_request_sub_opt.callback_group = fleet_state_pub_callback_group;
-
-  destination_request_sub =
-      create_subscription<rmf_fleet_msgs::msg::DestinationRequest>(
-          server_node_config.destination_request_topic, rclcpp::QoS(10),
-          [&](rmf_fleet_msgs::msg::DestinationRequest::UniquePtr msg)
-          {
-            handle_destination_request(std::move(msg));
-          },
-          destination_request_sub_opt);
-}
-
-bool ServerNode::is_request_valid(
-    const std::string& _fleet_name, const std::string& _robot_name)
-{
-  if (_fleet_name != server_node_config.fleet_name)
-    return false;
-
-  ReadLock robot_states_lock(robot_states_mutex);
-  auto it = robot_states.find(_robot_name);
-  if (it == robot_states.end())
-    return false;
-  return true;
-}
-
-void ServerNode::transform_fleet_to_rmf(
-    const rmf_fleet_msgs::msg::Location& _fleet_frame_location,
-    rmf_fleet_msgs::msg::Location& _rmf_frame_location) const
-{
-  // It feels easier to read if each operation is a separate statement.
-  // The compiler will be super smart and elide all these operations.
-  const Eigen::Vector2d translated =
-      Eigen::Vector2d(_fleet_frame_location.x, _fleet_frame_location.y)
-      - Eigen::Vector2d(
-          server_node_config.translation_x, server_node_config.translation_y);
-
-  // RCLCPP_INFO(
-  //     get_logger(), "    fleet->rmf translated: (%.3f, %.3f)",
-  //     translated[0], translated[1]);
-
-  const Eigen::Vector2d rotated =
-      Eigen::Rotation2D<double>(-server_node_config.rotation) * translated;
-
-  // RCLCPP_INFO(
-  //     get_logger(), "    fleet->rmf rotated: (%.3f, %.3f)",
-  //     rotated[0], rotated[1]);
-
-  const Eigen::Vector2d scaled = 1.0 / server_node_config.scale * rotated;
-
-  // RCLCPP_INFO(
-  //     get_logger(), "    fleet->rmf scaled: (%.3f, %.3f)",
-  //     scaled[0], scaled[1]);
-
-  _rmf_frame_location.x = scaled[0];
-  _rmf_frame_location.y = scaled[1];
-  _rmf_frame_location.yaw =
-      _fleet_frame_location.yaw - server_node_config.rotation;
-
-  _rmf_frame_location.t = _fleet_frame_location.t;
-  _rmf_frame_location.level_name = _fleet_frame_location.level_name;
-}
-
-void ServerNode::transform_rmf_to_fleet(
-    const rmf_fleet_msgs::msg::Location& _rmf_frame_location,
-    rmf_fleet_msgs::msg::Location& _fleet_frame_location) const
-{
-  // It feels easier to read if each operation is a separate statement.
-  // The compiler will be super smart and elide all these operations.
-  const Eigen::Vector2d scaled =
-      server_node_config.scale *
-      Eigen::Vector2d(_rmf_frame_location.x, _rmf_frame_location.y);
-
-  // RCLCPP_INFO(
-  //     get_logger(), "    rmf->fleet scaled: (%.3f, %.3f)",
-  //     scaled[0], scaled[1]);
-
-  const Eigen::Vector2d rotated =
-      Eigen::Rotation2D<double>(server_node_config.rotation) * scaled;
-
-  // RCLCPP_INFO(
-  //     get_logger(), "    rmf->fleet rotated: (%.3f, %.3f)",
-  //     rotated[0], rotated[1]);
-
-  const Eigen::Vector2d translated =
-      rotated +
-      Eigen::Vector2d(
-          server_node_config.translation_x, server_node_config.translation_y);
-
-  // RCLCPP_INFO(
-  //     get_logger(), "    rmf->fleet translated: (%.3f, %.3f)",
-  //     translated[0], translated[1]);
-
-  _fleet_frame_location.x = translated[0];
-  _fleet_frame_location.y = translated[1];
-  _fleet_frame_location.yaw =
-      _rmf_frame_location.yaw + server_node_config.rotation;
-
-  _fleet_frame_location.t = _rmf_frame_location.t;
-  _fleet_frame_location.level_name = _rmf_frame_location.level_name;
-}
-
-void ServerNode::handle_mode_request(
-    rmf_fleet_msgs::msg::ModeRequest::UniquePtr _msg)
-{
-  messages::ModeRequest ff_msg;
-  to_ff_message(*(_msg.get()), ff_msg);
-  fields.server->send_mode_request(ff_msg);
-}
-
-void ServerNode::handle_path_request(
-    rmf_fleet_msgs::msg::PathRequest::UniquePtr _msg)
-{
-  for (std::size_t i = 0; i < _msg->path.size(); ++i)
-  {
-    rmf_fleet_msgs::msg::Location fleet_frame_waypoint;
-    transform_rmf_to_fleet(_msg->path[i], fleet_frame_waypoint);
-    _msg->path[i] = fleet_frame_waypoint;
-  }
-
-  messages::PathRequest ff_msg;
-  to_ff_message(*(_msg.get()), ff_msg);
-  fields.server->send_path_request(ff_msg);
-}
-
-void ServerNode::handle_destination_request(
-    rmf_fleet_msgs::msg::DestinationRequest::UniquePtr _msg)
-{
-  rmf_fleet_msgs::msg::Location fleet_frame_destination;
-  transform_rmf_to_fleet(_msg->destination, fleet_frame_destination);
-  _msg->destination = fleet_frame_destination;
-
-  messages::DestinationRequest ff_msg;
-  to_ff_message(*(_msg.get()), ff_msg);
-  fields.server->send_destination_request(ff_msg);
-}
-
-void ServerNode::update_state_callback()
-{
-  std::vector<messages::RobotState> new_robot_states;
-  fields.server->read_robot_states(new_robot_states);
-
-  for (const messages::RobotState& ff_rs : new_robot_states)
-  {
-    rmf_fleet_msgs::msg::RobotState ros_rs;
-    to_ros_message(ff_rs, ros_rs);
-
-    WriteLock robot_states_lock(robot_states_mutex);
-    auto it = robot_states.find(ros_rs.name);
-    if (it == robot_states.end())
-      RCLCPP_INFO(
-          get_logger(),
-          "registered a new robot: [%s]",
-          ros_rs.name.c_str());
-
-    robot_states[ros_rs.name] = ros_rs;
-  }
-}
-
-void ServerNode::publish_fleet_state()
-{
-  rmf_fleet_msgs::msg::FleetState fleet_state;
-  fleet_state.name = server_node_config.fleet_name;
-  fleet_state.robots.clear();
-
-  ReadLock robot_states_lock(robot_states_mutex);
-  for (const auto it : robot_states)
-  {
-    const auto fleet_frame_rs = it.second;
-    rmf_fleet_msgs::msg::RobotState rmf_frame_rs;
-
-    transform_fleet_to_rmf(fleet_frame_rs.location, rmf_frame_rs.location);
-
-    // RCLCPP_INFO(
-    //     get_logger(),
-    //     "robot location: (%.1f, %.1f, %.1f) -> (%.1f, %.1f, %.1f)",
-    //     fleet_frame_rs.location.x,
-    //     fleet_frame_rs.location.y,
-    //     fleet_frame_rs.location.yaw,
-    //     rmf_frame_rs.location.x,
-    //     rmf_frame_rs.location.y,
-    //     rmf_frame_rs.location.yaw);
-
-    rmf_frame_rs.name = fleet_frame_rs.name;
-    rmf_frame_rs.model = fleet_frame_rs.model;
-    rmf_frame_rs.task_id = fleet_frame_rs.task_id;
-    rmf_frame_rs.mode = fleet_frame_rs.mode;
-    rmf_frame_rs.battery_percent = fleet_frame_rs.battery_percent;
-
-    rmf_frame_rs.path.clear();
-    for (const auto& fleet_frame_path_loc : fleet_frame_rs.path)
-    {
-      rmf_fleet_msgs::msg::Location rmf_frame_path_loc;
-
-      transform_fleet_to_rmf(fleet_frame_path_loc, rmf_frame_path_loc);
-
-      rmf_frame_rs.path.push_back(rmf_frame_path_loc);
-    }
-
-    fleet_state.robots.push_back(rmf_frame_rs);
-  }
-  fleet_state_pub->publish(fleet_state);
-}
-
-} // namespace ros2
-} // namespace free_fleet
diff --git a/free_fleet_server_ros2/src/ServerNode.hpp b/free_fleet_server_ros2/src/ServerNode.hpp
deleted file mode 100644
index 85828bc4..00000000
--- a/free_fleet_server_ros2/src/ServerNode.hpp
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET_SERVER_ROS2__SRC__SERVERNODE_HPP
-#define FREE_FLEET_SERVER_ROS2__SRC__SERVERNODE_HPP
-
-#include <mutex>
-#include <memory>
-#include <unordered_map>
-
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/node_options.hpp>
-
-#include <rcl_interfaces/msg/parameter_event.hpp>
-
-#include <rmf_fleet_msgs/msg/location.hpp>
-#include <rmf_fleet_msgs/msg/robot_state.hpp>
-#include <rmf_fleet_msgs/msg/fleet_state.hpp>
-#include <rmf_fleet_msgs/msg/mode_request.hpp>
-#include <rmf_fleet_msgs/msg/path_request.hpp>
-#include <rmf_fleet_msgs/msg/destination_request.hpp>
-
-#include <free_fleet/Server.hpp>
-#include <free_fleet/messages/Location.hpp>
-#include <free_fleet/messages/RobotState.hpp>
-
-#include "ServerNodeConfig.hpp"
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-class ServerNode : public rclcpp::Node
-{
-public:
-
-  using SharedPtr = std::shared_ptr<ServerNode>;
-  using ReadLock = std::unique_lock<std::mutex>;
-  using WriteLock = std::unique_lock<std::mutex>;
-
-  static SharedPtr make(
-      const ServerNodeConfig& config,
-      const rclcpp::NodeOptions& options =
-          rclcpp::NodeOptions()
-              .allow_undeclared_parameters(true)
-              .automatically_declare_parameters_from_overrides(true));
-
-  ~ServerNode();
-
-  struct Fields
-  {
-    // Free fleet server
-    Server::SharedPtr server;
-  };
-
-  void print_config();
-
-private:
-
-  bool is_request_valid(
-      const std::string& fleet_name, const std::string& robot_name);
-
-  void transform_fleet_to_rmf(
-      const rmf_fleet_msgs::msg::Location& fleet_frame_location,
-      rmf_fleet_msgs::msg::Location& rmf_frame_location) const;
-
-  void transform_rmf_to_fleet(
-      const rmf_fleet_msgs::msg::Location& rmf_frame_location,
-      rmf_fleet_msgs::msg::Location& fleet_frame_location) const;
-
-  // --------------------------------------------------------------------------
-
-  rclcpp::Subscription<rmf_fleet_msgs::msg::ModeRequest>::SharedPtr
-      mode_request_sub;
-
-  void handle_mode_request(rmf_fleet_msgs::msg::ModeRequest::UniquePtr msg);
-
-  // --------------------------------------------------------------------------
-
-  rclcpp::Subscription<rmf_fleet_msgs::msg::PathRequest>::SharedPtr
-      path_request_sub;
-
-  void handle_path_request(rmf_fleet_msgs::msg::PathRequest::UniquePtr msg);
-
-  // --------------------------------------------------------------------------
-
-  rclcpp::Subscription<rmf_fleet_msgs::msg::DestinationRequest>::SharedPtr
-      destination_request_sub;
-
-  void handle_destination_request(
-      rmf_fleet_msgs::msg::DestinationRequest::UniquePtr msg);
-
-  // --------------------------------------------------------------------------
-
-  rclcpp::CallbackGroup::SharedPtr update_state_callback_group;
-
-  rclcpp::TimerBase::SharedPtr update_state_timer;
-
-  std::mutex robot_states_mutex;
-
-  std::unordered_map<std::string, rmf_fleet_msgs::msg::RobotState>
-      robot_states;
-
-  void update_state_callback();
-
-  // --------------------------------------------------------------------------
-
-  rclcpp::CallbackGroup::SharedPtr
-      fleet_state_pub_callback_group;
-
-  rclcpp::TimerBase::SharedPtr fleet_state_pub_timer;
-
-  rclcpp::Publisher<rmf_fleet_msgs::msg::FleetState>::SharedPtr
-      fleet_state_pub;
-
-  void publish_fleet_state();
-
-  // --------------------------------------------------------------------------
-
-  ServerNodeConfig server_node_config;
-
-  void setup_config();
-
-  bool is_ready();
-
-  Fields fields;
-
-  ServerNode(
-      const ServerNodeConfig& config, const rclcpp::NodeOptions& options);
-
-  void start(Fields fields);
-
-};
-
-} // namespace ros2
-} // namespace free_fleet
-
-#endif // FREE_FLEET_SERVER_ROS2__SRC__SERVERNODE_HPP
diff --git a/free_fleet_server_ros2/src/ServerNodeConfig.cpp b/free_fleet_server_ros2/src/ServerNodeConfig.cpp
deleted file mode 100644
index df7b0374..00000000
--- a/free_fleet_server_ros2/src/ServerNodeConfig.cpp
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <cstdio>
-
-#include <free_fleet/ServerConfig.hpp>
-
-#include "ServerNodeConfig.hpp"
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-void ServerNodeConfig::print_config() const
-{
-  setbuf(stdout, NULL);
-  printf("ROS 2 SERVER CONFIGURATION\n");
-  printf("  fleet name: %s\n", fleet_name.c_str());
-  printf("  update state frequency: %.1f\n", update_state_frequency);
-  printf("  publish state frequency: %.1f\n", publish_state_frequency);
-  printf("  TOPICS\n");
-  printf("    fleet state: %s\n", fleet_state_topic.c_str());
-  printf("    mode request: %s\n", mode_request_topic.c_str());
-  printf("    path request: %s\n", path_request_topic.c_str());
-  printf("    destination request: %s\n", destination_request_topic.c_str());
-  printf("SERVER-CLIENT DDS CONFIGURATION\n");
-  printf("  dds domain: %d\n", dds_domain);
-  printf("  TOPICS\n");
-  printf("    robot state: %s\n", dds_robot_state_topic.c_str());
-  printf("    mode request: %s\n", dds_mode_request_topic.c_str());
-  printf("    path request: %s\n", dds_path_request_topic.c_str());
-  printf("    destination request: %s\n",
-      dds_destination_request_topic.c_str());
-  printf("COORDINATE TRANSFORMATION\n");
-  printf("  translation x (meters): %.3f\n", translation_x);
-  printf("  translation y (meters): %.3f\n", translation_y);
-  printf("  rotation (radians): %.3f\n", rotation);
-  printf("  scale: %.3f\n", scale);
-}
-
-ServerConfig ServerNodeConfig::get_server_config() const
-{
-  ServerConfig server_config;
-  server_config.dds_domain = dds_domain;
-  server_config.dds_robot_state_topic = dds_robot_state_topic;
-  server_config.dds_mode_request_topic = dds_mode_request_topic;
-  server_config.dds_path_request_topic = dds_path_request_topic;
-  server_config.dds_destination_request_topic = dds_destination_request_topic;
-  return server_config;
-}
-
-ServerNodeConfig ServerNodeConfig::make()
-{
-  ServerNodeConfig config;
-  return config;
-}
-
-} // namespace ros2
-} // namespace free_fleet
diff --git a/free_fleet_server_ros2/src/ServerNodeConfig.hpp b/free_fleet_server_ros2/src/ServerNodeConfig.hpp
deleted file mode 100644
index 382ebd61..00000000
--- a/free_fleet_server_ros2/src/ServerNodeConfig.hpp
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET_SERVER_ROS2__SRC__SERVERNODECONFIG_HPP
-#define FREE_FLEET_SERVER_ROS2__SRC__SERVERNODECONFIG_HPP
-
-#include <string>
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-struct ServerNodeConfig
-{
-  
-  std::string fleet_name = "fleet_name";
-
-  std::string fleet_state_topic = "fleet_state";
-  std::string mode_request_topic = "mode_request";
-  std::string path_request_topic = "path_request";
-  std::string destination_request_topic = "destination_request";
-
-  int dds_domain = 42;
-  std::string dds_robot_state_topic = "robot_state";
-  std::string dds_mode_request_topic = "mode_request";
-  std::string dds_path_request_topic = "path_request";
-  std::string dds_destination_request_topic = "destination_request";
-
-  double update_state_frequency = 10.0;
-  double publish_state_frequency = 10.0;
-
-  // the transformation order of operations from the server to the client is:
-  // 1) scale
-  // 2) rotate
-  // 3) translate
-  double scale = 1.0;
-  double rotation = 0.0;
-  double translation_x = 0.0;
-  double translation_y = 0.0;
-
-  void print_config() const;
-
-  ServerConfig get_server_config() const;
-
-  static ServerNodeConfig make();
-
-};
-
-} // namespace ros2
-} // namespace free_fleet
-
-#endif // FREE_FLEET_SERVER_ROS2__SRC__SERVERNODECONFIG_HPP
diff --git a/free_fleet_server_ros2/src/main.cpp b/free_fleet_server_ros2/src/main.cpp
deleted file mode 100644
index cad6b69d..00000000
--- a/free_fleet_server_ros2/src/main.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include <iostream>
-
-#include <rclcpp/rclcpp.hpp>
-
-#include "ServerNode.hpp"
-
-
-int main(int argc, char** argv)
-{
-  rclcpp::init(argc, argv);
-  std::cout << "Greetings from free_fleet_server_ros2" << std::endl;
-
-  free_fleet::ros2::ServerNodeConfig server_node_config =
-      free_fleet::ros2::ServerNodeConfig::make();
-  server_node_config.fleet_name = "free_fleet_server_ros2";
-
-  auto server_node = free_fleet::ros2::ServerNode::make(server_node_config);
-  if (!server_node)
-    return 1;
-
-  rclcpp::executors::MultiThreadedExecutor executor {
-      rclcpp::ExecutorOptions(), 2};
-  executor.add_node(server_node);
-  executor.spin();
-
-  rclcpp::shutdown();
-  return 0;
-}
diff --git a/free_fleet_server_ros2/src/utilities.cpp b/free_fleet_server_ros2/src/utilities.cpp
deleted file mode 100644
index ad62a0ff..00000000
--- a/free_fleet_server_ros2/src/utilities.cpp
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#include "utilities.hpp"
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-void to_ff_message(
-    const rmf_fleet_msgs::msg::Location& _in_msg, messages::Location& _out_msg)
-{
-  _out_msg.sec = _in_msg.t.sec;
-  _out_msg.nanosec = _in_msg.t.nanosec;
-  _out_msg.x = _in_msg.x;
-  _out_msg.y = _in_msg.y;
-  _out_msg.yaw = _in_msg.yaw;
-  _out_msg.level_name = _in_msg.level_name;
-}
-
-void to_ff_message(
-    const rmf_fleet_msgs::msg::ModeRequest& _in_msg, 
-    messages::ModeRequest& _out_msg)
-{
-  _out_msg.fleet_name = _in_msg.fleet_name;
-  _out_msg.robot_name = _in_msg.robot_name;
-  _out_msg.mode.mode = _in_msg.mode.mode;
-  _out_msg.task_id = _in_msg.task_id;
-}
-
-void to_ff_message(
-    const rmf_fleet_msgs::msg::PathRequest& _in_msg, 
-    messages::PathRequest& _out_msg)
-{
-  _out_msg.fleet_name = _in_msg.fleet_name;
-  _out_msg.robot_name = _in_msg.robot_name;
-
-  _out_msg.path.clear();
-  for (size_t i = 0; i < _in_msg.path.size(); ++i)
-  {
-    messages::Location tmp_loc_msg;
-    to_ff_message(_in_msg.path[i], tmp_loc_msg);
-    _out_msg.path.push_back(tmp_loc_msg);
-  }
-
-  _out_msg.task_id = _in_msg.task_id;
-}
-
-void to_ff_message(
-    const rmf_fleet_msgs::msg::DestinationRequest& _in_msg, 
-    messages::DestinationRequest& _out_msg)
-{
-  _out_msg.fleet_name = _in_msg.fleet_name;
-  _out_msg.robot_name = _in_msg.robot_name;
-  to_ff_message(_in_msg.destination, _out_msg.destination);
-  _out_msg.task_id = _in_msg.task_id;
-}
-
-void to_ros_message(
-    const messages::Location& _in_msg,
-    rmf_fleet_msgs::msg::Location& _out_msg)
-{
-  _out_msg.t.sec = _in_msg.sec;
-  _out_msg.t.nanosec = _in_msg.nanosec;
-  _out_msg.x = _in_msg.x;
-  _out_msg.y = _in_msg.y;
-  _out_msg.yaw = _in_msg.yaw;
-  _out_msg.level_name = _in_msg.level_name;
-}
-
-void to_ros_message(
-    const messages::RobotState& _in_msg,
-    rmf_fleet_msgs::msg::RobotState& _out_msg)
-{
-  _out_msg.name = _in_msg.name;
-  _out_msg.model = _in_msg.model;
-  _out_msg.task_id = _in_msg.task_id;
-  _out_msg.mode.mode = _in_msg.mode.mode;
-  _out_msg.battery_percent = _in_msg.battery_percent;
-
-  to_ros_message(_in_msg.location, _out_msg.location);
-
-  _out_msg.path = {};
-  for (size_t i = 0; i < _in_msg.path.size(); ++i)
-  {
-    rmf_fleet_msgs::msg::Location tmp_loc;
-    to_ros_message(_in_msg.path[i], tmp_loc);
-    _out_msg.path.push_back(tmp_loc);
-  }
-}
-
-} // namespace ros2
-} // namespace free_fleet
diff --git a/free_fleet_server_ros2/src/utilities.hpp b/free_fleet_server_ros2/src/utilities.hpp
deleted file mode 100644
index 99b13573..00000000
--- a/free_fleet_server_ros2/src/utilities.hpp
+++ /dev/null
@@ -1,67 +0,0 @@
-/*
- * Copyright (C) 2019 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef FREE_FLEET_SERVER_ROS2__SRC__UTILITIES_HPP
-#define FREE_FLEET_SERVER_ROS2__SRC__UTILITIES_HPP
-
-#include <rmf_fleet_msgs/msg/location.hpp>
-#include <rmf_fleet_msgs/msg/robot_state.hpp>
-#include <rmf_fleet_msgs/msg/mode_request.hpp>
-#include <rmf_fleet_msgs/msg/path_request.hpp>
-#include <rmf_fleet_msgs/msg/destination_request.hpp>
-
-#include <free_fleet/messages/Location.hpp>
-#include <free_fleet/messages/RobotState.hpp>
-#include <free_fleet/messages/ModeRequest.hpp>
-#include <free_fleet/messages/PathRequest.hpp>
-#include <free_fleet/messages/DestinationRequest.hpp>
-
-namespace free_fleet
-{
-namespace ros2
-{
-
-void to_ff_message(
-    const rmf_fleet_msgs::msg::Location& in_msg, messages::Location& out_msg);
-
-void to_ff_message(
-    const rmf_fleet_msgs::msg::ModeRequest& in_msg, 
-    messages::ModeRequest& out_msg);
-
-void to_ff_message(
-    const rmf_fleet_msgs::msg::PathRequest& in_msg, 
-    messages::PathRequest& out_msg);
-
-void to_ff_message(
-    const rmf_fleet_msgs::msg::DestinationRequest& in_msg, 
-    messages::DestinationRequest& out_msg);
-
-// ----------------------------------------------------------------------------
-
-void to_ros_message(
-    const messages::Location& in_msg,
-    rmf_fleet_msgs::msg::Location& out_msg);
-
-void to_ros_message(
-    const messages::RobotState& in_msg,
-    rmf_fleet_msgs::msg::RobotState& out_msg);
-
-} // namespace ros2
-} // namespace free_fleet
-
-
-#endif // FREE_FLEET_SERVER_ROS2__SRC__UTILITIES_HPP
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