From bb05f1178ca50a2cae822e84ca7b543457e629f3 Mon Sep 17 00:00:00 2001
From: dale <geoffthejetson@gmail.com>
Date: Tue, 31 Oct 2023 14:30:43 -0400
Subject: [PATCH 1/3] Do not add data files

---
 .gitignore | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.gitignore b/.gitignore
index df1fde924..27dd83813 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,4 +10,9 @@
 **/log/
 **/cmake-build-*/
 
+# ignore all data files
+**/*.gz
+**/*.npz
+**/*.npy
+
 **/__pycache__/

From 76909a560e85f958cf1b53a3c57c187a9d6abb0c Mon Sep 17 00:00:00 2001
From: dale <geoffthejetson@gmail.com>
Date: Wed, 29 Nov 2023 19:31:03 -0500
Subject: [PATCH 2/3] fixed spline message

---
 driverless_ws/src/interfaces/msg/Spline.msg | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/driverless_ws/src/interfaces/msg/Spline.msg b/driverless_ws/src/interfaces/msg/Spline.msg
index 781d83027..291e6cabd 100644
--- a/driverless_ws/src/interfaces/msg/Spline.msg
+++ b/driverless_ws/src/interfaces/msg/Spline.msg
@@ -1,16 +1,15 @@
 std_msgs/Header header
 
 float64[4] spl_poly_coefs
-
-sensor_msgs/Image points
-sensor_msgs/Image rotated_points
-sensor_msgs/Image q
-
-float64[2] translation_vector
-
 float64[4] first_der_coefs
 float64[4] second_der_coefs
 
+geometry_msgs/Point[] points # z field is unused
+geometry_msgs/Point[] rotated_points # z field is unused
+
+float64[4] q # [q(0,0), q(0, 1), q(1, 0), q(1, 1)]
+float64[2] translation_vector # [dx, dy]
+
 int64 path_id
 int64 sort_index
-float64 length
+float64 length
\ No newline at end of file

From e80a6b0edee907a9416433d3fd7a836c2d9efb26 Mon Sep 17 00:00:00 2001
From: gracetangg <gracehtang@yahoo.com>
Date: Thu, 7 Dec 2023 18:02:33 -0500
Subject: [PATCH 3/3] update submodules

---
 .gitmodules | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/.gitmodules b/.gitmodules
index cb07940de..34000f3c0 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,11 @@
 [submodule "driverless_ws/src/eufs_msgs"]
-	path = driverless_ws/src/eufs_msgs
-	url = https://gitlab.com/eufs/eufs_msgs.git
+  path = driverless_ws/src/eufs_msgs
+  url = https://gitlab.com/eufs/eufs_msgs.git
+
+[submodule "driverless_ws/src/HesaiLidar_ROS_2.0"]
+  path = driverless_ws/src/HesaiLidar_ROS_2.0
+  url = https://github.com/HesaiTechnology/HesaiLidar_ROS_2.0.git
+
+[submodule "driverless_ws/src/zed-ros2-wrapper"]
+  path = driverless_ws/src/zed-ros2-wrapper
+  url = https://github.com/stereolabs/zed-ros2-wrapper.git