diff --git a/.gitattributes b/.gitattributes
index ed3fab4edb8a173fa0cd803a0a2002ef71222509..1ef325f1b111266a6b26e0196871bd78baa8c2f3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,13 +1,59 @@
-*.dat filter=lfs diff=lfs merge=lfs -text
-
-# Large log files (>10MB) should use Git LFS if included
-*.txt filter=lfs diff=lfs merge=lfs -text
-
-# Point cloud data files (these will be excluded by .gitignore)
-*.pcd filter=lfs diff=lfs merge=lfs -text
-*.ply filter=lfs diff=lfs merge=lfs -text
-*.las filter=lfs diff=lfs merge=lfs -text
-
-# Binary data files
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
 *.bin filter=lfs diff=lfs merge=lfs -text
-*.bag filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index 0738146e0ac69f20e8f03fefa34096a71f30523c..0000000000000000000000000000000000000000
--- a/.gitignore
+++ /dev/null
@@ -1,37 +0,0 @@
-# Exclude large pointcloud data files (>100MB)
-raw_LiDAR_pointcloud/
-
-# Exclude large raw LiDAR files (>50MB)
-raw_LiDAR/*.txt
-
-# Exclude temporary files
-*.tmp
-*.temp
-*~
-
-# Exclude system files
-.DS_Store
-Thumbs.db
-
-# Exclude log files larger than 10MB (adjust as needed)
-# Note: This requires Git LFS for large files, but we'll exclude them entirely
-# If you want to include some large logs, remove specific exclusions above
-
-# Exclude any file larger than 100MB (Git LFS threshold)
-# This is a safety measure - large files should be handled separately
-
-# Keep only essential log files:
-# - gnss_calibration/ (GPS calibration logs)
-# - nmea_navsat/ (GPS NMEA logs)
-# - reader_log/ (serial reader logs)
-# - twist_log/ (velocity command logs)
-# - wheeltec_gps_path/ (GPS path logs)
-# - wit_imu_log/ (IMU logs)
-# - Small raw_LiDAR files (<50MB) if needed
-
-# Exclude any .git directories that might be accidentally included
-.git/
-
-# Exclude backup files
-*.bak
-*.backup
\ No newline at end of file
diff --git a/gnss_calibration/log_20251110_170614.txt b/gnss_calibration/log_20251110_170614.txt
deleted file mode 100644
index 5725c476e583467cfd3203f33efd030889827619..0000000000000000000000000000000000000000
--- a/gnss_calibration/log_20251110_170614.txt
+++ /dev/null
@@ -1,3 +0,0 @@
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deleted file mode 100644
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--- a/gnss_calibration/log_20251110_171903.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/gnss_calibration/log_20251110_172432.txt b/gnss_calibration/log_20251110_172432.txt
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--- a/gnss_calibration/log_20251110_172432.txt
+++ /dev/null
@@ -1,3 +0,0 @@
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deleted file mode 100644
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--- a/gnss_calibration/log_20251110_183458.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
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deleted file mode 100644
index 67d098ad340a5d3ce4a2a8bc1f079694562f7248..0000000000000000000000000000000000000000
--- a/gnss_calibration/log_20251110_193407.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/gnss_calibration/log_20251110_193449.txt b/gnss_calibration/log_20251110_193449.txt
deleted file mode 100644
index 7f4154b6779a00a9eeb8e0359bfbaa2abd333670..0000000000000000000000000000000000000000
--- a/gnss_calibration/log_20251110_193449.txt
+++ /dev/null
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-version https://git-lfs.github.com/spec/v1
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diff --git a/gnss_calibration/log_20251110_193705.txt b/gnss_calibration/log_20251110_193705.txt
deleted file mode 100644
index a1b1a5fc5bd204cb66a42a298d98023ec40ee37d..0000000000000000000000000000000000000000
--- a/gnss_calibration/log_20251110_193705.txt
+++ /dev/null
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diff --git a/gnss_calibration/log_20251110_193725.txt b/gnss_calibration/log_20251110_193725.txt
deleted file mode 100644
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diff --git a/gnss_calibration/log_20251110_193955.txt b/gnss_calibration/log_20251110_193955.txt
deleted file mode 100644
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diff --git a/gnss_calibration/log_20251110_194059.txt b/gnss_calibration/log_20251110_194059.txt
deleted file mode 100644
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--- a/gnss_calibration/log_20251110_194059.txt
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/gnss_calibration/log_20251110_194634.txt b/gnss_calibration/log_20251110_194634.txt
deleted file mode 100644
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--- a/gnss_calibration/log_20251110_194634.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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diff --git a/gnss_calibration/test_gps_20251110_193448.log b/gnss_calibration/test_gps_20251110_193448.log
deleted file mode 100644
index 8df19304ec5d0f02239a3339d90fbcfc90f5d497..0000000000000000000000000000000000000000
--- a/gnss_calibration/test_gps_20251110_193448.log
+++ /dev/null
@@ -1,156 +0,0 @@
-[INFO] [launch]: All log files can be found below /home/jetson/.ros/log/2025-11-10-19-34-49-027846-ubuntu-37265
-[INFO] [launch]: Default logging verbosity is set to INFO
-[INFO] [nmea_serial_driver-1]: process started with pid [37277]
-[INFO] [gnss_calibration_node-2]: process started with pid [37279]
-[gnss_calibration_node-2] [INFO] [1762774489.642944720] [gnss_calibration]: Starting at 前门口北拐角前
-[nmea_serial_driver-1] [INFO] [1762774489.707829475] [nmea_navsat_driver]: Logging NMEA data to /home/jetson/2025_FYP/all_kind_output_file/All_Log/nmea_navsat/log_20251110_193449.txt
-[nmea_serial_driver-1] [INFO] [1762774489.718203066] [nmea_navsat_driver]: Successfully connected to /dev/wheeltec_gps at 9600.
-[nmea_serial_driver-1] [INFO] [1762774489.740678391] [nmea_navsat_driver]: Received data: '30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [WARN] [1762774489.741953946] [nmea_navsat_driver]: Received a sentence with an invalid checksum. Sentence was: 30,35,1.2,0.7,1.0*22
-[nmea_serial_driver-1] [INFO] [1762774489.814679519] [nmea_navsat_driver]: Received data: '$GPGSV,3,1,12,01,59,171,41,02,71,076,46,07,61,253,47,08,43,043,44*7F'
-[nmea_serial_driver-1] [INFO] [1762774489.885558835] [nmea_navsat_driver]: Received data: '$GPGSV,3,2,12,10,05,049,21,14,18,308,,17,12,256,28,27,14,059,25*73'
-[nmea_serial_driver-1] [INFO] [1762774489.961447918] [nmea_navsat_driver]: Received data: '$GPGSV,3,3,12,30,44,296,44,194,68,070,44,195,61,126,45,199,53,168,31*45'
-[nmea_serial_driver-1] [INFO] [1762774490.034415738] [nmea_navsat_driver]: Received data: '$BDGSV,4,1,16,01,44,141,37,02,34,233,38,03,50,198,40,04,32,124,29*6C'
-[nmea_serial_driver-1] [INFO] [1762774490.107831476] [nmea_navsat_driver]: Received data: '$BDGSV,4,2,16,06,66,203,40,07,63,293,42,09,71,256,43,10,51,278,41*62'
-[nmea_serial_driver-1] [INFO] [1762774490.180443991] [nmea_navsat_driver]: Received data: '$BDGSV,4,3,16,16,63,193,42,29,79,356,47,30,30,043,36,35,33,235,38*6A'
-[nmea_serial_driver-1] [INFO] [1762774490.253237088] [nmea_navsat_driver]: Received data: '$BDGSV,4,4,16,36,55,138,46,39,52,185,38,40,67,312,46,45,71,317,48*61'
-[nmea_serial_driver-1] [INFO] [1762774490.329900401] [nmea_navsat_driver]: Received data: '$GNRMC,113446.000,A,3116.46558,N,12044.09099,E,0.00,73.09,101125,,,A*4B'
-[nmea_serial_driver-1] [INFO] [1762774490.368958285] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774490.409801369] [nmea_navsat_driver]: Received data: '$GNZDA,113446.000,10,11,2025,00,00*49'
-[nmea_serial_driver-1] [INFO] [1762774490.441921498] [nmea_navsat_driver]: Received data: '$GPTXT,01,01,01,ANTENNA OK*35'
-[nmea_serial_driver-1] [INFO] [1762774490.517366794] [nmea_navsat_driver]: Received data: '$GNGGA,113447.000,3116.46558,N,12044.09099,E,1,27,0.7,13.5,M,0.0,M,,*46'
-[gnss_calibration_node-2] [INFO] [1762774490.522219084] [gnss_calibration]: Calibrating...Freeze! 1/5
-[nmea_serial_driver-1] [INFO] [1762774490.572501238] [nmea_navsat_driver]: Received data: '$GNGLL,3116.46558,N,12044.09099,E,113447.000,A,A*46'
-[nmea_serial_driver-1] [INFO] [1762774490.637898488] [nmea_navsat_driver]: Received data: '$GPGSA,A,3,01,02,07,08,17,27,30,194,195,199,,,1.2,0.7,1.0*0B'
-[nmea_serial_driver-1] [INFO] [1762774490.703050130] [nmea_navsat_driver]: Received data: '$BDGSA,A,3,01,02,03,04,06,07,09,10,16,29,30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [INFO] [1762774490.775934237] [nmea_navsat_driver]: Received data: '$GPGSV,3,1,12,01,59,171,41,02,71,076,46,07,61,253,47,08,43,043,45*7E'
-[nmea_serial_driver-1] [INFO] [1762774490.846838483] [nmea_navsat_driver]: Received data: '$GPGSV,3,2,12,10,05,049,21,14,18,308,,17,12,256,28,27,14,059,22*74'
-[nmea_serial_driver-1] [INFO] [1762774490.923135994] [nmea_navsat_driver]: Received data: '$GPGSV,3,3,12,30,44,296,44,194,68,070,44,195,61,126,45,199,53,168,29*4C'
-[nmea_serial_driver-1] [INFO] [1762774490.995852512] [nmea_navsat_driver]: Received data: '$BDGSV,4,1,16,01,44,141,37,02,34,233,37,03,50,198,40,04,32,124,29*63'
-[nmea_serial_driver-1] [INFO] [1762774491.068641386] [nmea_navsat_driver]: Received data: '$BDGSV,4,2,16,06,66,203,40,07,63,293,42,09,71,256,43,10,51,278,41*62'
-[nmea_serial_driver-1] [INFO] [1762774491.141726971] [nmea_navsat_driver]: Received data: '$BDGSV,4,3,16,16,63,193,43,29,79,356,49,30,30,043,36,35,33,235,40*6A'
-[nmea_serial_driver-1] [INFO] [1762774491.214336544] [nmea_navsat_driver]: Received data: '$BDGSV,4,4,16,36,55,138,46,39,52,185,38,40,67,312,46,45,71,317,48*61'
-[nmea_serial_driver-1] [INFO] [1762774491.290281694] [nmea_navsat_driver]: Received data: '$GNRMC,113447.000,A,3116.46558,N,12044.09099,E,0.00,73.09,101125,,,A*4A'
-[nmea_serial_driver-1] [INFO] [1762774491.329832104] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774491.370644244] [nmea_navsat_driver]: Received data: '$GNZDA,113447.000,10,11,2025,00,00*48'
-[nmea_serial_driver-1] [INFO] [1762774491.402771029] [nmea_navsat_driver]: Received data: '$GPTXT,01,01,01,ANTENNA OK*35'
-[nmea_serial_driver-1] [INFO] [1762774491.479265027] [nmea_navsat_driver]: Received data: '$GNGGA,113448.000,3116.46558,N,12044.09100,E,1,27,0.7,13.6,M,0.0,M,,*4B'
-[gnss_calibration_node-2] [INFO] [1762774491.483638168] [gnss_calibration]: Calibrating...Freeze! 2/5
-[nmea_serial_driver-1] [INFO] [1762774491.534379280] [nmea_navsat_driver]: Received data: '$GNGLL,3116.46558,N,12044.09100,E,113448.000,A,A*48'
-[nmea_serial_driver-1] [INFO] [1762774491.598834745] [nmea_navsat_driver]: Received data: '$GPGSA,A,3,01,02,07,08,17,27,30,194,195,199,,,1.2,0.7,1.0*0B'
-[nmea_serial_driver-1] [INFO] [1762774491.664328797] [nmea_navsat_driver]: Received data: '$BDGSA,A,3,01,02,03,04,06,07,09,10,16,29,30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [INFO] [1762774491.737357677] [nmea_navsat_driver]: Received data: '$GPGSV,3,1,12,01,59,171,41,02,71,076,46,07,61,253,46,08,43,043,45*7F'
-[nmea_serial_driver-1] [INFO] [1762774491.808049182] [nmea_navsat_driver]: Received data: '$GPGSV,3,2,12,10,05,049,21,14,18,308,,17,12,256,28,27,14,059,22*74'
-[nmea_serial_driver-1] [INFO] [1762774491.884270820] [nmea_navsat_driver]: Received data: '$GPGSV,3,3,12,30,44,296,44,194,68,070,45,195,61,126,45,199,53,168,32*47'
-[nmea_serial_driver-1] [INFO] [1762774491.957055213] [nmea_navsat_driver]: Received data: '$BDGSV,4,1,16,01,44,141,37,02,34,233,37,03,50,198,40,04,32,124,29*63'
-[nmea_serial_driver-1] [INFO] [1762774492.030035740] [nmea_navsat_driver]: Received data: '$BDGSV,4,2,16,06,66,203,41,07,63,293,43,09,71,256,43,10,51,278,41*62'
-[nmea_serial_driver-1] [INFO] [1762774492.102845128] [nmea_navsat_driver]: Received data: '$BDGSV,4,3,16,16,63,193,43,29,79,356,49,30,30,043,36,35,33,235,40*6A'
-[nmea_serial_driver-1] [INFO] [1762774492.175780918] [nmea_navsat_driver]: Received data: '$BDGSV,4,4,16,36,55,138,46,39,52,185,39,40,67,312,46,45,71,317,48*60'
-[nmea_serial_driver-1] [INFO] [1762774492.251809400] [nmea_navsat_driver]: Received data: '$GNRMC,113448.000,A,3116.46558,N,12044.09100,E,0.00,73.09,101125,,,A*44'
-[nmea_serial_driver-1] [INFO] [1762774492.291313793] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774492.332163726] [nmea_navsat_driver]: Received data: '$GNZDA,113448.000,10,11,2025,00,00*47'
-[nmea_serial_driver-1] [INFO] [1762774492.364145516] [nmea_navsat_driver]: Received data: '$GPTXT,01,01,01,ANTENNA OK*35'
-[nmea_serial_driver-1] [INFO] [1762774492.440337843] [nmea_navsat_driver]: Received data: '$GNGGA,113449.000,3116.46557,N,12044.09100,E,1,27,0.7,13.6,M,0.0,M,,*45'
-[gnss_calibration_node-2] [INFO] [1762774492.444578277] [gnss_calibration]: Calibrating...Freeze! 3/5
-[nmea_serial_driver-1] [INFO] [1762774492.495538019] [nmea_navsat_driver]: Received data: '$GNGLL,3116.46557,N,12044.09100,E,113449.000,A,A*46'
-[nmea_serial_driver-1] [INFO] [1762774492.560411768] [nmea_navsat_driver]: Received data: '$GPGSA,A,3,01,02,07,08,17,27,30,194,195,199,,,1.2,0.7,1.0*0B'
-[nmea_serial_driver-1] [INFO] [1762774492.625942239] [nmea_navsat_driver]: Received data: '$BDGSA,A,3,01,02,03,04,06,07,09,10,16,29,30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [INFO] [1762774492.698633639] [nmea_navsat_driver]: Received data: '$GPGSV,3,1,12,01,59,171,41,02,71,076,46,07,61,253,46,08,43,043,45*7F'
-[nmea_serial_driver-1] [INFO] [1762774492.769601184] [nmea_navsat_driver]: Received data: '$GPGSV,3,2,12,10,05,049,15,14,18,308,,17,12,256,28,27,14,059,22*73'
-[nmea_serial_driver-1] [INFO] [1762774492.845442621] [nmea_navsat_driver]: Received data: '$GPGSV,3,3,12,30,44,296,44,194,68,070,45,195,61,126,45,199,53,168,32*47'
-[nmea_serial_driver-1] [INFO] [1762774492.918575825] [nmea_navsat_driver]: Received data: '$BDGSV,4,1,16,01,44,141,37,02,34,233,37,03,50,198,40,04,32,124,29*63'
-[nmea_serial_driver-1] [INFO] [1762774492.991398524] [nmea_navsat_driver]: Received data: '$BDGSV,4,2,16,06,66,203,41,07,63,293,43,09,71,256,43,10,51,278,42*61'
-[nmea_serial_driver-1] [INFO] [1762774493.064651796] [nmea_navsat_driver]: Received data: '$BDGSV,4,3,16,16,63,193,44,29,79,356,49,30,30,043,36,35,33,235,41*6C'
-[nmea_serial_driver-1] [INFO] [1762774493.137223289] [nmea_navsat_driver]: Received data: '$BDGSV,4,4,16,36,55,138,46,39,52,185,39,40,67,312,46,45,71,317,49*61'
-[nmea_serial_driver-1] [INFO] [1762774493.213317982] [nmea_navsat_driver]: Received data: '$GNRMC,113449.000,A,3116.46557,N,12044.09100,E,0.00,73.09,101125,,,A*4A'
-[nmea_serial_driver-1] [INFO] [1762774493.252641955] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774493.293320172] [nmea_navsat_driver]: Received data: '$GNZDA,113449.000,10,11,2025,00,00*46'
-[nmea_serial_driver-1] [INFO] [1762774493.325593523] [nmea_navsat_driver]: Received data: '$GPTXT,01,01,01,ANTENNA OK*35'
-[nmea_serial_driver-1] [INFO] [1762774493.401597813] [nmea_navsat_driver]: Received data: '$GNGGA,113450.000,3116.46557,N,12044.09100,E,1,27,0.7,13.6,M,0.0,M,,*4D'
-[gnss_calibration_node-2] [INFO] [1762774493.405916522] [gnss_calibration]: Calibrating...Freeze! 4/5
-[nmea_serial_driver-1] [INFO] [1762774493.457200209] [nmea_navsat_driver]: Received data: '$GNGLL,3116.46557,N,12044.09100,E,113450.000,A,A*4E'
-[nmea_serial_driver-1] [INFO] [1762774493.521850305] [nmea_navsat_driver]: Received data: '$GPGSA,A,3,01,02,07,08,17,27,30,194,195,199,,,1.2,0.7,1.0*0B'
-[nmea_serial_driver-1] [INFO] [1762774493.587264710] [nmea_navsat_driver]: Received data: '$BDGSA,A,3,01,02,03,04,06,07,09,10,16,29,30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [INFO] [1762774493.660235830] [nmea_navsat_driver]: Received data: '$GPGSV,4,1,14,01,59,171,41,02,71,076,46,07,61,253,46,08,43,043,45*7E'
-[nmea_serial_driver-1] [INFO] [1762774493.729065399] [nmea_navsat_driver]: Received data: '$GPGSV,4,2,14,10,05,049,15,14,18,308,,16,10,108,,17,12,256,28*71'
-[nmea_serial_driver-1] [INFO] [1762774493.800901289] [nmea_navsat_driver]: Received data: '$GPGSV,4,3,14,22,05,302,,27,14,059,22,30,44,296,44,194,68,070,45*49'
-[nmea_serial_driver-1] [INFO] [1762774493.848668049] [nmea_navsat_driver]: Received data: '$GPGSV,4,4,14,195,61,126,45,199,53,168,31*78'
-[nmea_serial_driver-1] [INFO] [1762774493.921576512] [nmea_navsat_driver]: Received data: '$BDGSV,5,1,17,01,44,141,37,02,34,233,37,03,50,198,40,04,32,124,29*63'
-[nmea_serial_driver-1] [INFO] [1762774493.993874462] [nmea_navsat_driver]: Received data: '$BDGSV,5,2,17,06,66,203,41,07,63,293,43,09,71,256,43,10,51,278,42*61'
-[nmea_serial_driver-1] [INFO] [1762774494.066944210] [nmea_navsat_driver]: Received data: '$BDGSV,5,3,17,16,63,193,44,29,79,356,49,30,30,043,36,35,33,235,43*6E'
-[nmea_serial_driver-1] [INFO] [1762774494.140397681] [nmea_navsat_driver]: Received data: '$BDGSV,5,4,17,36,55,138,46,39,52,185,39,40,67,312,46,45,71,317,49*61'
-[nmea_serial_driver-1] [INFO] [1762774494.172620950] [nmea_navsat_driver]: Received data: '$BDGSV,5,5,17,59,45,148,39*54'
-[nmea_serial_driver-1] [INFO] [1762774494.248543383] [nmea_navsat_driver]: Received data: '$GNRMC,113450.000,A,3116.46557,N,12044.09100,E,0.00,73.09,101125,,,A*42'
-[nmea_serial_driver-1] [INFO] [1762774494.287998432] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774494.329014803] [nmea_navsat_driver]: Received data: '$GNZDA,113450.000,10,11,2025,00,00*4E'
-[nmea_serial_driver-1] [INFO] [1762774494.361032403] [nmea_navsat_driver]: Received data: '$GPTXT,01,01,01,ANTENNA OK*35'
-[nmea_serial_driver-1] [INFO] [1762774494.437034039] [nmea_navsat_driver]: Received data: '$GNGGA,113451.000,3116.46556,N,12044.09100,E,1,27,0.7,13.6,M,0.0,M,,*4D'
-[gnss_calibration_node-2] [INFO] [1762774494.441754678] [gnss_calibration]: Calibrating...Freeze! 5/5
-[gnss_calibration_node-2] [INFO] [1762774494.444089493] [gnss_calibration]: Offset saved at /home/jetson/2025_FYP/car_ws/src/Sensor_Driver_layer/GNSS/gnss_calibration/gnss_calibration/gnss_offset.txt
-[gnss_calibration_node-2] [INFO] [1762774494.445342711] [gnss_calibration]: Calibrated: lat_offset = 0.0005008000000010782, lon_offset = 0.0026980333333455064
-[nmea_serial_driver-1] [INFO] [1762774494.492501936] [nmea_navsat_driver]: Received data: '$GNGLL,3116.46556,N,12044.09100,E,113451.000,A,A*4E'
-[nmea_serial_driver-1] [INFO] [1762774494.556810744] [nmea_navsat_driver]: Received data: '$GPGSA,A,3,01,02,07,08,17,27,30,194,195,199,,,1.2,0.7,1.0*0B'
-[nmea_serial_driver-1] [INFO] [1762774494.622608167] [nmea_navsat_driver]: Received data: '$BDGSA,A,3,01,02,03,04,06,07,09,10,16,29,30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [INFO] [1762774494.695585113] [nmea_navsat_driver]: Received data: '$GPGSV,4,1,14,01,59,171,41,02,71,076,46,07,61,253,45,08,43,043,45*7D'
-[nmea_serial_driver-1] [INFO] [1762774494.764270423] [nmea_navsat_driver]: Received data: '$GPGSV,4,2,14,10,05,049,21,14,18,308,,16,10,108,,17,12,256,28*76'
-[nmea_serial_driver-1] [INFO] [1762774494.836307375] [nmea_navsat_driver]: Received data: '$GPGSV,4,3,14,22,05,302,,27,14,059,22,30,44,296,44,194,68,070,45*49'
-[nmea_serial_driver-1] [INFO] [1762774494.884496644] [nmea_navsat_driver]: Received data: '$GPGSV,4,4,14,195,61,126,44,199,53,168,31*79'
-[nmea_serial_driver-1] [INFO] [1762774494.957693115] [nmea_navsat_driver]: Received data: '$BDGSV,5,1,17,01,44,141,40,02,34,233,37,03,50,198,40,04,32,124,29*63'
-[nmea_serial_driver-1] [INFO] [1762774495.030963285] [nmea_navsat_driver]: Received data: '$BDGSV,5,2,17,06,66,203,41,07,63,293,43,09,71,256,43,10,51,278,41*62'
-[nmea_serial_driver-1] [INFO] [1762774495.103319191] [nmea_navsat_driver]: Received data: '$BDGSV,5,3,17,16,63,193,44,29,79,356,49,30,30,043,36,35,33,235,44*69'
-[nmea_serial_driver-1] [INFO] [1762774495.175305487] [nmea_navsat_driver]: Received data: '$BDGSV,5,4,17,36,55,138,46,39,52,185,39,40,67,312,46,45,71,317,49*61'
-[nmea_serial_driver-1] [INFO] [1762774495.208016578] [nmea_navsat_driver]: Received data: '$BDGSV,5,5,17,59,45,148,39*54'
-[nmea_serial_driver-1] [INFO] [1762774495.284485331] [nmea_navsat_driver]: Received data: '$GNRMC,113451.000,A,3116.46556,N,12044.09100,E,0.00,73.09,101125,,,A*42'
-[nmea_serial_driver-1] [INFO] [1762774495.323420783] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774495.364203420] [nmea_navsat_driver]: Received data: '$GNZDA,113451.000,10,11,2025,00,00*4F'
-[nmea_serial_driver-1] [INFO] [1762774495.396174139] [nmea_navsat_driver]: Received data: '$GPTXT,01,01,01,ANTENNA OK*35'
-[nmea_serial_driver-1] [INFO] [1762774495.472779504] [nmea_navsat_driver]: Received data: '$GNGGA,113452.000,3116.46556,N,12044.09100,E,1,27,0.7,13.6,M,0.0,M,,*4E'
-[nmea_serial_driver-1] [INFO] [1762774495.528675670] [nmea_navsat_driver]: Received data: '$GNGLL,3116.46556,N,12044.09100,E,113452.000,A,A*4D'
-[nmea_serial_driver-1] [INFO] [1762774495.592910204] [nmea_navsat_driver]: Received data: '$GPGSA,A,3,01,02,07,08,17,27,30,194,195,199,,,1.2,0.7,1.0*0B'
-[nmea_serial_driver-1] [INFO] [1762774495.658215904] [nmea_navsat_driver]: Received data: '$BDGSA,A,3,01,02,03,04,06,07,09,10,16,29,30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [INFO] [1762774495.731351639] [nmea_navsat_driver]: Received data: '$GPGSV,4,1,14,01,59,171,41,02,71,076,46,07,61,253,45,08,43,043,45*7D'
-[nmea_serial_driver-1] [INFO] [1762774495.799652363] [nmea_navsat_driver]: Received data: '$GPGSV,4,2,14,10,05,049,21,14,18,308,,16,10,108,,17,12,256,28*76'
-[nmea_serial_driver-1] [INFO] [1762774495.871555457] [nmea_navsat_driver]: Received data: '$GPGSV,4,3,14,22,05,302,,27,14,059,24,30,44,295,44,194,68,070,45*4C'
-[nmea_serial_driver-1] [INFO] [1762774495.919123941] [nmea_navsat_driver]: Received data: '$GPGSV,4,4,14,195,61,126,44,199,53,168,31*79'
-[nmea_serial_driver-1] [INFO] [1762774495.992097304] [nmea_navsat_driver]: Received data: '$BDGSV,5,1,17,01,44,141,40,02,34,233,37,03,50,198,40,04,32,124,29*63'
-[nmea_serial_driver-1] [INFO] [1762774496.065295697] [nmea_navsat_driver]: Received data: '$BDGSV,5,2,17,06,66,203,41,07,63,293,43,09,71,256,43,10,51,278,41*62'
-[nmea_serial_driver-1] [INFO] [1762774496.138121601] [nmea_navsat_driver]: Received data: '$BDGSV,5,3,17,16,63,193,44,29,79,356,48,30,30,043,35,35,33,235,43*6C'
-[nmea_serial_driver-1] [INFO] [1762774496.211203544] [nmea_navsat_driver]: Received data: '$BDGSV,5,4,17,36,55,138,46,39,52,185,39,40,67,312,46,45,71,317,49*61'
-[nmea_serial_driver-1] [INFO] [1762774496.243180888] [nmea_navsat_driver]: Received data: '$BDGSV,5,5,17,59,45,148,41*5B'
-[nmea_serial_driver-1] [INFO] [1762774496.319041209] [nmea_navsat_driver]: Received data: '$GNRMC,113452.000,A,3116.46556,N,12044.09100,E,0.00,73.09,101125,,,A*41'
-[nmea_serial_driver-1] [INFO] [1762774496.358629543] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774496.399680060] [nmea_navsat_driver]: Received data: '$GNZDA,113452.000,10,11,2025,00,00*4C'
-[nmea_serial_driver-1] [INFO] [1762774496.431991237] [nmea_navsat_driver]: Received data: '$GPTXT,01,01,01,ANTENNA OK*35'
-[nmea_serial_driver-1] [INFO] [1762774496.507718627] [nmea_navsat_driver]: Received data: '$GNGGA,113453.000,3116.46556,N,12044.09100,E,1,27,0.7,13.6,M,0.0,M,,*4F'
-[nmea_serial_driver-1] [INFO] [1762774496.562975384] [nmea_navsat_driver]: Received data: '$GNGLL,3116.46556,N,12044.09100,E,113453.000,A,A*4C'
-[nmea_serial_driver-1] [INFO] [1762774496.627436486] [nmea_navsat_driver]: Received data: '$GPGSA,A,3,01,02,07,08,17,27,30,194,195,199,,,1.2,0.7,1.0*0B'
-[nmea_serial_driver-1] [INFO] [1762774496.693347354] [nmea_navsat_driver]: Received data: '$BDGSA,A,3,01,02,03,04,06,07,09,10,16,29,30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [INFO] [1762774496.766408528] [nmea_navsat_driver]: Received data: '$GPGSV,4,1,14,01,59,171,41,02,71,076,46,07,61,253,46,08,43,043,45*7E'
-[nmea_serial_driver-1] [INFO] [1762774496.834908619] [nmea_navsat_driver]: Received data: '$GPGSV,4,2,14,10,05,049,21,14,18,308,,16,10,108,,17,12,256,28*76'
-[nmea_serial_driver-1] [INFO] [1762774496.906809858] [nmea_navsat_driver]: Received data: '$GPGSV,4,3,14,22,05,302,,27,14,059,27,30,44,295,44,194,68,070,45*4F'
-[nmea_serial_driver-1] [INFO] [1762774496.954656846] [nmea_navsat_driver]: Received data: '$GPGSV,4,4,14,195,61,126,45,199,53,168,31*78'
-[nmea_serial_driver-1] [INFO] [1762774497.027521504] [nmea_navsat_driver]: Received data: '$BDGSV,5,1,17,01,44,141,40,02,34,233,37,03,50,198,40,04,32,124,29*63'
-[nmea_serial_driver-1] [INFO] [1762774497.100542293] [nmea_navsat_driver]: Received data: '$BDGSV,5,2,17,06,66,203,41,07,63,293,43,09,71,256,43,10,51,278,41*62'
-[nmea_serial_driver-1] [INFO] [1762774497.173572236] [nmea_navsat_driver]: Received data: '$BDGSV,5,3,17,16,62,193,44,29,79,356,49,30,30,043,35,35,33,235,43*6C'
-[nmea_serial_driver-1] [INFO] [1762774497.246587841] [nmea_navsat_driver]: Received data: '$BDGSV,5,4,17,36,55,138,46,39,52,185,39,40,67,312,46,45,71,317,49*61'
-[nmea_serial_driver-1] [INFO] [1762774497.278435294] [nmea_navsat_driver]: Received data: '$BDGSV,5,5,17,59,45,148,41*5B'
-[nmea_serial_driver-1] [INFO] [1762774497.354690604] [nmea_navsat_driver]: Received data: '$GNRMC,113453.000,A,3116.46556,N,12044.09100,E,0.00,73.09,101125,,,A*40'
-[nmea_serial_driver-1] [INFO] [1762774497.394121142] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774497.435060232] [nmea_navsat_driver]: Received data: '$GNZDA,113453.000,10,11,2025,00,00*4D'
-[nmea_serial_driver-1] [INFO] [1762774497.466864772] [nmea_navsat_driver]: Received data: '$GPTXT,01,01,01,ANTENNA OK*35'
-[nmea_serial_driver-1] [INFO] [1762774497.543260309] [nmea_navsat_driver]: Received data: '$GNGGA,113454.000,3116.46556,N,12044.09101,E,1,27,0.7,13.6,M,0.0,M,,*49'
-[nmea_serial_driver-1] [INFO] [1762774497.598939766] [nmea_navsat_driver]: Received data: '$GNGLL,3116.46556,N,12044.09101,E,113454.000,A,A*4A'
-[nmea_serial_driver-1] [INFO] [1762774497.663117309] [nmea_navsat_driver]: Received data: '$GPGSA,A,3,01,02,07,08,17,27,30,194,195,199,,,1.2,0.7,1.0*0B'
-[nmea_serial_driver-1] [INFO] [1762774497.728823534] [nmea_navsat_driver]: Received data: '$BDGSA,A,3,01,02,03,04,06,07,09,10,16,29,30,35,1.2,0.7,1.0*22'
-[nmea_serial_driver-1] [INFO] [1762774497.801622718] [nmea_navsat_driver]: Received data: '$GPGSV,4,1,14,01,59,171,41,02,71,076,46,07,61,253,46,08,43,043,45*7E'
-[nmea_serial_driver-1] [INFO] [1762774497.870361248] [nmea_navsat_driver]: Received data: '$GPGSV,4,2,14,10,05,049,24,14,18,308,,16,10,108,,17,12,256,28*73'
-[nmea_serial_driver-1] [INFO] [1762774497.942384219] [nmea_navsat_driver]: Received data: '$GPGSV,4,3,14,22,05,302,,27,14,059,27,30,44,295,44,194,68,070,45*4F'
-[nmea_serial_driver-1] [INFO] [1762774497.989929952] [nmea_navsat_driver]: Received data: '$GPGSV,4,4,14,195,61,126,45,199,53,168,31*78'
-[nmea_serial_driver-1] [INFO] [1762774498.063051386] [nmea_navsat_driver]: Received data: '$BDGSV,5,1,17,01,44,141,40,02,34,233,37,03,50,198,40,04,32,124,29*63'
-[nmea_serial_driver-1] [INFO] [1762774498.136017007] [nmea_navsat_driver]: Received data: '$BDGSV,5,2,17,06,66,203,41,07,63,293,43,09,71,256,43,10,51,278,41*62'
-[nmea_serial_driver-1] [INFO] [1762774498.208845761] [nmea_navsat_driver]: Received data: '$BDGSV,5,3,17,16,62,193,44,29,79,356,49,30,30,043,33,35,33,235,44*6D'
-[nmea_serial_driver-1] [INFO] [1762774498.281784758] [nmea_navsat_driver]: Received data: '$BDGSV,5,4,17,36,55,138,46,39,52,185,39,40,67,312,46,45,71,317,48*60'
-[nmea_serial_driver-1] [INFO] [1762774498.313927739] [nmea_navsat_driver]: Received data: '$BDGSV,5,5,17,59,45,148,41*5B'
-[nmea_serial_driver-1] [INFO] [1762774498.389922402] [nmea_navsat_driver]: Received data: '$GNRMC,113454.000,A,3116.46556,N,12044.09101,E,0.00,73.09,101125,,,A*46'
-[nmea_serial_driver-1] [INFO] [1762774498.429404270] [nmea_navsat_driver]: Received data: '$GNVTG,73.09,T,,M,0.00,N,0.00,K,A*1E'
-[nmea_serial_driver-1] [INFO] [1762774498.470436100] [nmea_navsat_driver]: Received data: '$GNZDA,113454.000,10,11,2025,00,00*4A'
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