diff --git a/Working with RAE/RAE Default App/.vscode/launch.json b/Working with RAE/RAE Default App/.vscode/launch.json
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+++ b/Working with RAE/RAE Default App/.vscode/launch.json	
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+{"version":"0.2.0","configurations":[{"type":"robothub","request":"launch","name":"Run"}]}
\ No newline at end of file
diff --git a/Working with RAE/RAE Default App/.vscode/settings.json b/Working with RAE/RAE Default App/.vscode/settings.json
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+++ b/Working with RAE/RAE Default App/.vscode/settings.json	
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+{
+    "evenBetterToml.taplo.configFile.path": "/.vscode/taplo.toml",
+    "eslint.workingDirectories": [
+        "src"
+    ],
+    "editor.tabSize": 2,
+    "ros.distro": "humble"
+}
diff --git a/Working with RAE/RAE Default App/README.md b/Working with RAE/RAE Default App/README.md
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+# RAE Default App
+
+This is an example of Default RAE App source code. In this example, FollowMe Application is used as the default entry point, but others can be specified via `robotapp.toml` file.
+
+## Features
+- FollowMe Application - robot is put in a mode that follows a person standing in front or in the back of the robot
+- A FrontEnd application is launched to publish images on LCD screen or control LED behavior
+- Abstractions are provided for the robot class that allow customizing the App behavior, or creation of a whole different app
+- It is possible to set up streams for both RobotHub using provided wrappers
+
+## Requirements
+
+- RAE
+
+## Dependencies
+- ROS2 Humble
+- DepthAI libraries
+- RobotHub
+
+## Concepts of Robot classes
+
+1. The Robot Class: An Integrated Approach to Robotics Control
+
+The Robot class stands as a cornerstone in robotics control, encapsulating various functionalities such as movement, display, and LED control. This class serves as a bridge between hardware components and higher-level software commands, thereby streamlining robotics operations.
+
+Key Functionalities:
+- Movement Control: By integrating a MovementController, the Robot class allows for precise control over the robot's motion, enabling it to navigate its environment effectively.
+- Visual Feedback: The incorporation of a DisplayController and LEDController provides visual feedback and communication capabilities, enhancing human-robot interaction.
+- Battery Monitoring: The class also includes a method for battery state monitoring, ensuring the robot operates within its energy constraints.
+
+
+2. The Camera Class: Enhancing Perception in Robotics
+
+The Camera class is instrumental in augmenting a robot's perception of its surroundings. It leverages the depthai and robothub libraries to manage camera functionalities, which are vital for tasks like navigation, object recognition, and environmental interaction.
+
+- Stream Management: It enables the creation and management of video streams through RobotHub and ROS, crucial for real-time visual data processing.
+- Hardware Interface: The class interacts directly with the camera hardware, ensuring optimal utilization of the device's capabilities.
+- Flexibility and Control: The inclusion of methods for starting and stopping the camera pipeline, and for publishing video data, provides flexibility and control over the camera operations.
+
+3. The ROS2Manager Class: Streamlining ROS2 Operations
+
+The ROS2Manager class encapsulates the management of ROS2 functionalities. ROS2 (Robot Operating System 2) is an essential component in modern robotics, providing tools for communication between different parts of a robotic system.
+
+- Node Management: This class is responsible for creating and managing nodes in ROS2, facilitating communication between different components of a robot.
+- Publisher and Subscriber System: It includes a comprehensive system for creating publishers, subscribers, clients etc. allowing the robot to interact with various data streams efficiently.
+- Lifecycle Management: The class also manages the lifecycle of ROS2 processes, including starting and stopping nodes and context, ensuring robust and reliable operations.
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diff --git a/Working with RAE/RAE Default App/frontend/assets/index-37243f35.css b/Working with RAE/RAE Default App/frontend/assets/index-37243f35.css
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1.4rem}:is(a[data-is="button"],button[data-is="button"],input[type="button"],input[type="submit"],input[type="reset"],input[type="file"])>span[data-button=inner]>span:not([data-btn-icon="end"]){display:inline-block;flex:1;min-width:0}div[data-is=button-group]{display:flex;flex-direction:row;gap:4px;overflow:hidden}div[data-is=button-group]>:is(a[data-is="button"],button[data-is="button"],input[type="button"],input[type="submit"],input[type="reset"]):not(:is([role="switch"],[hidden])),:is(input[type="file"])::file-selector-button{border:none!important;box-shadow:none!important;border-radius:0!important;--button-min-height: calc(var(--button-min-height) - 2px)}[data-tooltip]{position:relative}[data-tooltip] dialog{display:none;z-index:999999;visibility:hidden;position:absolute;background-color:transparent;border:0;transition:visibility .5s ease-in-out .5s;width:0}[data-tooltip] dialog>:first-child{display:flex;flex-direction:row;align-items:center;border-radius:var(--border-radius);background-color:#000;padding:8px var(--container-padding);box-sizing:border-box;color:var(--text-color-dark);box-shadow:var(--shadow-2);width:max-content;white-space:nowrap;word-break:keep-all}[data-tooltip][data-tooltip-placement=right] dialog{left:calc(100% + var(--ss-1));flex-direction:row;align-items:center;justify-content:flex-start}[data-tooltip][data-tooltip-placement=left] dialog{left:calc(-1 * var(--ss-1) - 100%);flex-direction:row;align-items:center;justify-content:flex-end}[data-tooltip][data-tooltip-placement=top] dialog{top:calc(-1 * (100% + var(--ss-1)))}[data-tooltip][data-tooltip-placement=bottom] dialog{top:calc(100% + var(--ss-1))}[data-tooltip] dialog[open]{display:flex;visibility:visible}[data-is=tabs]{display:flex;flex-direction:row;justify-content:start;padding:8px 0}[data-is=tabs][data-tabs-type=header]{padding:8px var(--page-content-spacing);box-sizing:border-box;border-bottom:var(--divider)}[data-is=tabs]>[data-tabs=tab]{padding:8px 12px;margin-right:8px;border-radius:6px;color:var(--gray500);font-size:var(--font-size-text-sm);font-weight:var(--font-weight-medium);cursor:pointer}[data-is=tabs]>[data-tabs=tab][data-tabs-active]{background-color:var(--primary500);color:var(--white)}[data-is=tabs]>[data-tabs=tab]:not([data-tabs-active]):hover{color:var(--primary500)}[data-is=input]:not([data-input-size]){--_minWidth: var(--inputMinWidth);--_height: var(--inputHeightBase);--_paddingVertical: var(--inputPaddingVertical);--_paddingHorizontal: var(--inputPaddingHorizontal)}[data-is=input][data-input-size=lg]{--_height: var(--inputHeightLg);--_paddingVertical: var(--inputPaddingVerticalLg);--_paddingHorizontal: var(--inputPaddingHorizontalLg)}[data-is=input][data-input-size=sm]{--_height: var(--inputHeightSm);--_paddingVertical: var(--inputPaddingVerticalSm);--_paddingHorizontal: var(--inputPaddingHorizontalSm)}[data-is=input]>:is(input,textarea){border:none;background-image:none;background:none;-webkit-box-shadow:none;-moz-box-shadow:none;box-shadow:none}[data-is=input]{border-radius:var(--border-radius);width:auto;min-width:var(--_minWidth);height:var(--_height);display:flex;flex-direction:row}[data-is=input][data-textarea]{flex-direction:column;height:auto;min-height:calc(var(--_height) * var(--_minLines, 3))}[data-is=input][data-textarea]>textarea{display:block;resize:none;width:100%}[data-is=input]>.prefix{display:flex;flex-direction:row;align-items:center;justify-content:center;box-sizing:border-box;padding:0 12px;background-color:var(--gray50)}[data-is=input]>.prefix>svg{width:20px;height:20px;color:var(--gray600)}[data-is=input]>:is(input,textarea){flex:1;height:100%;box-sizing:border-box;background-color:#fff;padding-top:var(--_paddingVertical);padding-bottom:var(--_paddingVertical);padding-left:var(--_paddingHorizontal);padding-right:var(--_paddingHorizontal);color:var(--gray900);border-top:1px solid var(--border-color-base);border-bottom:1px solid var(--border-color-base);border-right:1px solid var(--border-color-base);border-left:1px solid var(--border-color-base)}[data-is=input][data-prefix=prefix]>input{flex:1;height:100%;box-sizing:border-box;background-color:#fff;padding-top:var(--_paddingVertical);padding-bottom:var(--_paddingVertical);padding-left:0;padding-right:var(--_paddingHorizontal);color:var(--gray900);border-top:1px solid var(--border-color-base);border-bottom:1px solid var(--border-color-base);border-right:1px solid var(--border-color-base);border-left:none!important}[data-is=input]:focus-within>:is(input,textarea,.prefix){outline:none;border:0}[data-is=input]:focus-within{border:1px solid var(--primary300)}[data-is=input]>:is(input,textarea)::placeholder{color:var(--gray300)}[data-is=input]>:is(input,textarea)[disabled]{background-color:var(--gray50);color:var(--gray500)}[data-is=input]>:first-child{border-top-left-radius:var(--border-radius);border-bottom-left-radius:var(--border-radius);border-left:1px solid var(--border-color-base);border-top:1px solid var(--border-color-base);border-bottom:1px solid var(--border-color-base)}[data-is=input]>:first-child:not(:is(input,textarea)){height:100%;border-top-right-radius:0;border-bottom-right-radius:0}[data-is=input]>:last-child{border-top-right-radius:var(--border-radius);border-bottom-right-radius:var(--border-radius);border-right:1px solid var(--border-color-base);border-top:1px solid var(--border-color-base);border-bottom:1px solid var(--border-color-base)}[data-is=input]>:last-child:not(:is(input,textarea)){height:100%;border-top-left-radius:0;border-bottom-left-radius:0}*[data-dropdown=parent]{position:relative}dialog[data-is=dropdown]{width:100%;min-width:0;display:none;border:0;flex-direction:column;min-height:0;padding:0;justify-content:flex-start;top:100%;z-index:10000}dialog[data-is=dropdown][data-dropdown-secondary=yes]{width:100%;display:none;border:0;flex-direction:column;min-height:0;padding:0;justify-content:flex-start;top:80%;bottom:100%;left:100%;z-index:10000}dialog[data-is=dropdown][data-dropdown-position=left]{align-items:flex-end}dialog[data-is=dropdown][data-dropdown-position=right]{align-items:flex-start}dialog[data-is=dropdown]>div{display:flex;width:max-content;min-width:100%;flex-direction:column;align-items:flex-end;justify-content:flex-start;background-color:var(--white);border:1px solid var(--_outlineColor);box-shadow:var(--shadow-sm);border-radius:var(--border-radius)}dialog[data-is=dropdown][open]{display:flex}dialog[data-is=dropdown]>div>:is(div,a)[data-is=dropdown-action]{width:max-content;min-width:100%;display:flex;flex-direction:row;gap:12px;align-items:center;min-height:var(--button-min-height);box-sizing:border-box;padding:0 16px;text-align:start;cursor:pointer}dialog[data-is=dropdown]>div>:is(div,a)[data-is=dropdown-action]{--_textColor: var(--gray900);--_iconSize: 16px;--_iconColor: var(--gray500)}dialog[data-is=dropdown]>div>:is(div,a)[data-is=dropdown-action]:hover{background-color:var(--gray100)}dialog[data-is=dropdown]>div>:is(div,a)[data-is=dropdown-action]{color:var(--_textColor)}dialog[data-is=dropdown]>div>:is(div,a)[data-is=dropdown-action] :is(svg,[data-icon]){block-size:var(--_iconSize);inline-size:var(--_iconSize);color:var(--_iconColor);flex-shrink:0;fill:none;stroke-linecap:round;stroke-linejoin:round}dialog[data-is=dropdown]>div>:is(div,a)[data-is=dropdown-action][data-disabled]{--_textColor: var(--disabled-color);--_iconColor: var(--disabled-color)}dialog[data-is=dropdown]>div>:is(div,a)[data-is=dropdown-action][data-action=danger]{--_textColor: var(--danger600);--_iconColor: var(--danger600)}[data-is=button-select]>[data-is=button]{border-radius:0;border-left:0;border-right:0}[data-is=button-select]>[data-is=button]:first-child{border-left:var(--_border);border-top-left-radius:var(--_border-radius);border-bottom-left-radius:var(--_border-radius)}[data-is=button-select]>[data-is=button]:last-child{border-right:var(--_border);border-top-right-radius:var(--_border-radius);border-bottom-right-radius:var(--_border-radius)}[data-is=button-select]>[data-is=button].ButtonSelect-selected{background:var(--primary50);border:1px solid var(--_primaryColor)}[data-is=select],.select-search-container{--_border: var(--border-color-base);--_arrowColor: var(--gray400);--_height: var(--inputHeightBase);--_fieldTextColor: var(--text-color);--_background: #fff}[data-is=select][data-input-size=lg],.select-search-container.lg{--_height: var(--inputHeightLg)}[data-is=select][data-input-size=sm],.select-search-container.sm{--_height: var(--inputHeightSm)}[data-is=select][data-select-height=fit-content]{--_height: max(max-content, var(--_selectItemMinHeight))}[data-is=select][data-on=dark]{--_border: var(--border-color-dark);--_fieldTextColor: var(--text-color-dark);--_background: rgba(0, 0, 0, .6)}[data-is=select],.select-search-container,[data-select=dialog]{--_iconSize: 24px;--_iconColor: var(--primary500);--_selectItemMinHeight: 48px;--_selectItemVerticalPadding: var(--ss-1);--_selectItemHorizontalPadding: var(--container-padding);--_selectItemGap: var(--ss-2);--_maxHeight: 220px}[data-is=select],.select-search-container{background-color:var(--_background);min-height:var(--inputHeightBase);border:1px solid var(--_border);border-radius:var(--border-radius);cursor:pointer;font-size:var(--font-size-text-sm);line-height:var(--line-height-text-sm);position:relative}.select-search-container{padding:0 8px;box-sizing:border-box;display:flex;flex-direction:row;align-items:center}.select-search-container>.select-search__control{flex:1}[data-is=select]>[data-select=field]{border-radius:var(--border-radius);border:none;height:var(--_height);font-family:inherit;font-size:inherit;cursor:inherit;line-height:inherit;outline:none;width:100%;min-width:fit-content;color:var(--_fieldTextColor);display:flex;flex-direction:row;align-items:center}[data-is=select]>[data-select=field]>:first-child{flex:1}[data-is=select]>[data-select=field]>svg{margin:0 8px;--_iconColor: var(--gray300)}[data-select=field][data-disabled=""]{background-color:var(--gray50);color:var(--gray500)}dialog[data-select=dialog]{width:100%;min-width:100%;display:none;border:0;flex-direction:column;min-height:0;padding:0;align-items:stretch;justify-content:flex-start;top:100%;z-index:10000;max-height:var(--_maxHeight);overflow-y:auto;box-shadow:var(--shadow-2);border-radius:0 0 var(--border-radius) var(--border-radius)}dialog[data-select=dialog][open]{display:flex}dialog[data-select=dialog]>[data-select=item]:hover{background-color:#0000000a}dialog[data-select=dialog]>[data-select=item],[data-is=select]>[data-select=field]>[data-select=item]{display:flex;width:100%;height:max-content;min-height:var(--_selectItemMinHeight);flex-direction:row;gap:var(--_selectItemGap);align-items:center;box-sizing:border-box;cursor:pointer;padding:var(--_selectItemVerticalPadding) var(--_selectItemHorizontalPadding)}[data-is=select]:not([data-select-height="fit-content"])>[data-select=field]>[data-select=item]{height:100%;padding:0 var(--_selectItemHorizontalPadding)}[data-select=item][data-disabled]{color:var(--disabled-color)}[data-select=item] :where(svg,[data-icon]){block-size:var(--_iconSize);inline-size:var(--_iconSize);color:var(--_iconColor);flex-shrink:0;fill:none;stroke-linecap:round;stroke-linejoin:round}[data-is=select] [dropdown-arrow]{width:24px;height:24px;margin-right:8px;pointer-events:none;color:var(--_arrowColor);grid-area:select;justify-self:end}.select-search-divider{align-items:center;display:flex;justify-content:space-between}.select-search-divider-option{background-color:#ebecf0;border-radius:2em;color:#172b4d;display:inline-block;font-size:12;font-weight:400;line-height:1;min-width:1;padding:.16666667em .5em;text-align:center}div[data-is=badge]{--_paddingVertical: 2px;--_paddingHorizontal: 8px;--_gap: 4px;--_height: 22px;--_borderRadius: 11px;--_textWeight: var(--font-weight-medium);--_textSize: var(--font-size-text-xs);--_lineHeight: var(--line-height-text-xs);--_iconSize: 12px}div[data-is=badge][data-look=strong]{--_textColor: var(--_onPrimaryColor, #ffffff);--_bg: var(--_primaryColor, var(--gray500))}div[data-is=badge][data-look=light]{--_textColor: var(--_primaryColor, var(--gray500));--_bg: var(--_secondaryColor, var(--gray100))}div[data-is=badge][data-look=transparent]{--_textColor: var(--_primaryColor, var(--gray500));--_bg: transparent}div[data-is=badge]{display:flex;width:fit-content;height:var(--_height);padding:var(--_paddingVertical) var(--_paddingHorizontal);border-radius:var(--_borderRadius);flex-direction:row;justify-content:center;align-items:center;gap:var(--_gap);color:var(--_textColor);font-weight:var(--_textWeight);font-size:var(--_textSize);line-height:var(--_lineHeight);background-color:var(--_bg);user-select:none}div[data-is=badge][data-padding="0"]{--_paddingVertical: 0;--_paddingHorizontal: 0}div[data-is=navigation-menu]{width:100%;height:var(--layout-navmenu-mobile-height);border-bottom:var(--divider);display:flex;flex-direction:row;align-items:center;background-color:var(--navigationMenuBackground);box-sizing:border-box;gap:16px;padding:0 var(--page-content-spacing)}div[data-is=navigation-menu]>[data-device=mobile]{display:flex}div[data-is=navigation-menu]>[data-device=desktop]{display:none}div[data-is=navigation-menu]>[data-layout-nav=logo]{--_logoSize: calc(var(--layout-navmenu-mobile-height) - 12px);width:var(--_logoSize);height:var(--_logoSize);background-color:var(--palette-600)}div[data-is=navigation-menu]>[data-layout-nav=logo]>svg{--_iconSize: var(--_logoSize);--_iconColor: var(--palette-dark-contrast)}div[data-is=navigation-menu] [data-nav-menu=divider]{display:none}div[data-is=navigation-menu]>nav{display:flex;flex-direction:row;align-items:center;gap:12px}div[data-is=navigation-menu]>nav:last-child{flex:1;justify-content:flex-end}div[data-is=navigation-menu]>nav[data-device=desktop] a{--_background: transparent;--_borderColor: var(--divider-color);--_opacity: 1;--__color: var(--gray600);--_textColor: var(--__color);--_iconColor: var(--__color)}div[data-is=navigation-menu]>nav[data-device=desktop] a{width:38px;height:38px;border-radius:var(--border-radius);border:1px solid var(--_borderColor);background:var(--_background);display:flex;flex-direction:row;align-items:center;justify-content:center;color:var(--__color);cursor:pointer}div[data-is=navigation-menu]>nav[data-device=desktop] a:has(img){--border-radius: 48px}div[data-is=navigation-menu]>nav[data-device=desktop] a>svg{width:24px;height:24px}div[data-is=navigation-menu]>nav[data-device=desktop] a.avatar :is(img,svg){width:100%;height:100%;border-radius:var(--border-radius);opacity:var(--_opacity)}div[data-is=navigation-menu]>nav[data-device=desktop] *.active{--_background: var(--palette-600);--__color: var(--palette-dark-contrast);--_borderColor: transparent;--_opacity: .7}@media (min-width: 560px){div[data-is=navigation-menu]{width:var(--navigationMenuWidth);height:100%;flex-direction:column;border-bottom:none;border-right:var(--divider);padding:0;gap:0}div[data-is=navigation-menu]>[data-layout-nav=logo]{--_logoSize: var(--page-header-topbar-height);width:100%;display:flex;flex-direction:column;align-items:center;justify-content:center;border-bottom:var(--divider)}div[data-is=navigation-menu]>[data-layout-nav=logo]>svg{--_iconSize: 48px}div[data-is=navigation-menu]>nav{flex-direction:column;padding:var(--container-padding) 0;box-sizing:border-box}div[data-is=navigation-menu] [data-nav-menu=divider]{display:block;height:1px;width:var(--navigationMenuWidth);background-color:var(--gray100);margin:8px 0}div[data-is=navigation-menu]>nav:last-child{flex:unset}div[data-is=navigation-menu]>nav>a{width:42px;height:42px}div[data-is=navigation-menu]>[data-device=mobile]{display:none}div[data-is=navigation-menu]>[data-device=desktop]{display:flex}}div[data-is=switch]{--_width: 36px;--_borderWidth: 1px;--_baseHeight: 20px;--_height: calc(2 * var(--_borderWidth) + var(--_baseHeight));--_color: var(--gray300);--_circleOffset: 2px;--_circleSize: calc(var(--_baseHeight) - (2 * var(--_circleOffset)))}div[data-is=switch]{width:var(--_width);height:var(--_height);box-sizing:border-box;border-radius:calc(var(--_height) / 2);border:var(--_borderWidth) solid var(--gray200);position:relative;cursor:pointer;background-color:var(--_color)}div[data-switch]:before{position:absolute;content:"";display:block;width:var(--_circleSize);height:var(--_circleSize);border-radius:calc(var(--_circleSize) / 2);top:var(--_circleOffset);left:var(--_circleOffset);transition:left .15s ease-in-out;background-color:var(--white)}div[data-switch=on]{--_color: var(--primary500)}div[data-switch=on]:before{left:calc(var(--_width) - var(--_circleOffset) - var(--_circleSize) - (2 * var(--_borderWidth)))}div[data-switch=off]{--_color: var(--gray200)}div[data-switch=off]:before{left:var(--_circleOffset)}.Table{--_cell-padding: 16px;--_cell-gap: 8px;--_divider: 1px solid var(--divider-color)}.Table{display:flex;flex-direction:column;align-items:stretch;width:100%;border-radius:var(--border-radius);background-color:#fff;border:var(--border-width-base) var(--border-style-base) var(--divider-color)}.Table-header{grid-column:1 / -1;display:flex;flex-direction:row;align-items:center;min-height:var(--container-header-min-height);padding:0 var(--_cell-padding);border-bottom:var(--_divider)}.Table-header-title{flex:1;min-width:0}.Table-body{display:grid}.Table-headerCell,.Table-cell{display:flex;flex-direction:row;align-items:center;justify-content:none;padding:0 var(--_cell-padding);gap:var(--_cell-gap);--_iconSize: 38px}.Table-cell>[data-flex]:first-child{width:100%}.Table-headerCell{min-height:44px;border-bottom:var(--_divider);font-weight:var(--font-weight-medium);font-size:var(--font-size-text-sm);color:var(--gray500)}.Table-filtersAppliedRow{display:flex;flex-direction:row;align-items:center;background-color:var(--primary25);box-sizing:border-box;padding:0 var(--_cell-padding);min-height:56px}.Table-filtersAppliedRow>:first-child{flex:1;min-width:0;font-weight:500}.Table-cell{min-height:64px}.Table-cell.cellAlign-start,.Table-headerCell.cellAlign-start{text-align:start;justify-content:flex-start}.Table-cell.cellAlign-center,.Table-headerCell.cellAlign-center{text-align:center;justify-content:center}.Table-cell.cellAlign-end,.Table-headerCell.cellAlign-end{text-align:end;justify-content:flex-end}.Table-cell.clickable{cursor:pointer}.Table-emptyContent{width:100%;display:flex;flex-direction:column;align-items:center;padding:40px 0}.Table-emptyContent-body{width:352px;display:flex;flex-direction:column;align-items:center}.LinkedRobots.Table-emptyContent-body{min-width:500px}.Table-emptyContent-body>svg{--_iconSize: 128px}.Table-emptyContent-body>.title{margin-top:16px}.Table-emptyContent-body>.text{margin-top:4px}.Table-emptyContent-actions{width:100%;display:flex;flex-direction:row;align-items:center;justify-content:center;margin-top:16px}[data-is=card]{--_contentGap: var(--container-padding);--_paddingVertical: var(--container-padding);--_paddingHorizontal: var(--container-padding);--_backgroundColor: var(--white);--_cursor: "default";--_width: 100%;--_minWidth: 0;--_height: auto;--_minHeight: 0}[data-is=card]{display:flex;flex-direction:column;width:var(--_width);min-width:var(--_minWidth);height:var(--_height);min-height:var(--_minHeight);background-color:var(--_backgroundColor);border:var(--_divider, var(--divider));cursor:var(--_cursor);box-sizing:border-box;border-radius:var(--border-radius)}[data-is=card][data-color]{--_divider: 1px solid var(--palette-200)}[data-is=card][data-card-padding]{padding:0}[data-is=card][data-card-padding=none]{--_paddingHorizontal: 0;--_paddingVertical: 0}[data-is=card][data-card-padding=horizontal]{--_paddingVertical: 0}[data-is=card][data-card-padding=vertical]{--_paddingHorizontal: 0}[data-is=card]>[data-card=header]{display:flex;flex-direction:row;align-items:center;width:100%;min-height:var(--container-header-min-height);border-bottom:1px solid var(--divider-color);border-radius:var(--border-radius) var(--border-radius) 0 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+ * React Router v6.11.2
+ *
+ * Copyright (c) Remix Software Inc.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE.md file in the root directory of this source tree.
+ *
+ * @license MIT
+ */function $s(){return $s=Object.assign?Object.assign.bind():function(e){for(var t=1;t<arguments.length;t++){var n=arguments[t];for(var r in n)Object.prototype.hasOwnProperty.call(n,r)&&(e[r]=n[r])}return e},$s.apply(this,arguments)}const ip=k.createContext(null),Dv=k.createContext(null),aa=k.createContext(null),$u=k.createContext(null),ia=k.createContext({outlet:null,matches:[],isDataRoute:!1}),Iv=k.createContext(null);function jv(e,t){let{relative:n}=t===void 0?{}:t;ol()||He(!1);let{basename:r,navigator:a}=k.useContext(aa),{hash:i,pathname:o,search:l}=op(e,{relative:n}),s=o;return r!=="/"&&(s=o==="/"?r:cr([r,o])),a.createHref({pathname:s,search:l,hash:i})}function ol(){return k.useContext($u)!=null}function Cr(){return ol()||He(!1),k.useContext($u).location}function Fv(e){k.useContext(aa).static||k.useLayoutEffect(e)}function Bv(){let{isDataRoute:e}=k.useContext(ia);return e?U3():M3()}function M3(){ol()||He(!1);let 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W3(e){let{children:t,location:n}=e;return R3(xf(t),n)}var R0;(function(e){e[e.pending=0]="pending",e[e.success=1]="success",e[e.error=2]="error"})(R0||(R0={}));new Promise(()=>{});function xf(e,t){t===void 0&&(t=[]);let n=[];return k.Children.forEach(e,(r,a)=>{if(!k.isValidElement(r))return;let i=[...t,a];if(r.type===k.Fragment){n.push.apply(n,xf(r.props.children,i));return}r.type!==ts&&He(!1),!r.props.index||!r.props.children||He(!1);let o={id:r.props.id||i.join("-"),caseSensitive:r.props.caseSensitive,element:r.props.element,Component:r.props.Component,index:r.props.index,path:r.props.path,loader:r.props.loader,action:r.props.action,errorElement:r.props.errorElement,ErrorBoundary:r.props.ErrorBoundary,hasErrorBoundary:r.props.ErrorBoundary!=null||r.props.errorElement!=null,shouldRevalidate:r.props.shouldRevalidate,handle:r.props.handle,lazy:r.props.lazy};r.props.children&&(o.children=xf(r.props.children,i)),n.push(o)}),n}/**
+ * React Router DOM v6.11.2
+ *
+ * Copyright (c) Remix Software Inc.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE.md file in the root directory of this source tree.
+ *
+ * @license MIT
+ */function Ps(){return Ps=Object.assign?Object.assign.bind():function(e){for(var t=1;t<arguments.length;t++){var n=arguments[t];for(var r in n)Object.prototype.hasOwnProperty.call(n,r)&&(e[r]=n[r])}return e},Ps.apply(this,arguments)}function Hv(e,t){if(e==null)return{};var n={},r=Object.keys(e),a,i;for(i=0;i<r.length;i++)a=r[i],!(t.indexOf(a)>=0)&&(n[a]=e[a]);return n}function V3(e){return!!(e.metaKey||e.altKey||e.ctrlKey||e.shiftKey)}function G3(e,t){return e.button===0&&(!t||t==="_self")&&!V3(e)}const Y3=["onClick","relative","reloadDocument","replace","state","target","to","preventScrollReset"],Z3=["aria-current","caseSensitive","className","end","style","to","children"];function q3(e){let{basename:t,children:n,window:r}=e,a=k.useRef();a.current==null&&(a.current=l3({window:r,v5Compat:!0}));let i=a.current,[o,l]=k.useState({action:i.action,location:i.location});return k.useLayoutEffect(()=>i.listen(l),[i]),k.createElement(H3,{basename:t,children:n,location:o.location,navigationType:o.action,navigator:i})}const X3=typeof window<"u"&&typeof window.document<"u"&&typeof window.document.createElement<"u",K3=/^(?:[a-z][a-z0-9+.-]*:|\/\/)/i,Wv=k.forwardRef(function(t,n){let{onClick:r,relative:a,reloadDocument:i,replace:o,state:l,target:s,to:u,preventScrollReset:c}=t,f=Hv(t,Y3),{basename:d}=k.useContext(aa),v,y=!1;if(typeof u=="string"&&K3.test(u)&&(v=u,X3))try{let g=new URL(window.location.href),w=u.startsWith("//")?new URL(g.protocol+u):new URL(u),S=ap(w.pathname,d);w.origin===g.origin&&S!=null?u=S+w.search+w.hash:y=!0}catch{}let b=jv(u,{relative:a}),x=Vv(u,{replace:o,state:l,target:s,preventScrollReset:c,relative:a});function p(g){r&&r(g),g.defaultPrevented||x(g)}return k.createElement("a",Ps({},f,{href:v||b,onClick:y||i?r:p,ref:n,target:s}))}),Q3=k.forwardRef(function(t,n){let{"aria-current":r="page",caseSensitive:a=!1,className:i="",end:o=!1,style:l,to:s,children:u}=t,c=Hv(t,Z3),f=op(s,{relative:c.relative}),d=Cr(),v=k.useContext(Dv),{navigator:y}=k.useContext(aa),b=y.encodeLocation?y.encodeLocation(f).pathname:f.pathname,x=d.pathname,p=v&&v.navigation&&v.navigation.location?v.navigation.location.pathname:null;a||(x=x.toLowerCase(),p=p?p.toLowerCase():null,b=b.toLowerCase());let g=x===b||!o&&x.startsWith(b)&&x.charAt(b.length)==="/",w=p!=null&&(p===b||!o&&p.startsWith(b)&&p.charAt(b.length)==="/"),S=g?r:void 0,E;typeof i=="function"?E=i({isActive:g,isPending:w}):E=[i,g?"active":null,w?"pending":null].filter(Boolean).join(" ");let T=typeof l=="function"?l({isActive:g,isPending:w}):l;return k.createElement(Wv,Ps({},c,{"aria-current":S,className:E,ref:n,style:T,to:s}),typeof u=="function"?u({isActive:g,isPending:w}):u)});var A0;(function(e){e.UseScrollRestoration="useScrollRestoration",e.UseSubmitImpl="useSubmitImpl",e.UseFetcher="useFetcher"})(A0||(A0={}));var L0;(function(e){e.UseFetchers="useFetchers",e.UseScrollRestoration="useScrollRestoration"})(L0||(L0={}));function Vv(e,t){let{target:n,replace:r,state:a,preventScrollReset:i,relative:o}=t===void 0?{}:t,l=Bv(),s=Cr(),u=op(e,{relative:o});return k.useCallback(c=>{if(G3(c,n)){c.preventDefault();let f=r!==void 0?r:Os(s)===Os(u);l(e,{replace:f,state:a,preventScrollReset:i,relative:o})}},[s,l,u,r,a,n,e,i,o])}var Sf={},Gv={exports:{}},jt={},Yv={exports:{}},Zv={};/**
+ * @license React
+ * scheduler.production.min.js
+ *
+ * Copyright (c) Facebook, Inc. and its affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */(function(e){function t(A,N){var F=A.length;A.push(N);e:for(;0<F;){var K=F-1>>>1,_=A[K];if(0<a(_,N))A[K]=N,A[F]=_,F=K;else break e}}function n(A){return A.length===0?null:A[0]}function r(A){if(A.length===0)return null;var N=A[0],F=A.pop();if(F!==N){A[0]=F;e:for(var K=0,_=A.length,M=_>>>1;K<M;){var L=2*(K+1)-1,O=A[L],D=L+1,Y=A[D];if(0>a(O,F))D<_&&0>a(Y,O)?(A[K]=Y,A[D]=F,K=D):(A[K]=O,A[L]=F,K=L);else if(D<_&&0>a(Y,F))A[K]=Y,A[D]=F,K=D;else break e}}return N}function a(A,N){var F=A.sortIndex-N.sortIndex;return F!==0?F:A.id-N.id}if(typeof performance=="object"&&typeof performance.now=="function"){var i=performance;e.unstable_now=function(){return i.now()}}else{var o=Date,l=o.now();e.unstable_now=function(){return o.now()-l}}var s=[],u=[],c=1,f=null,d=3,v=!1,y=!1,b=!1,x=typeof setTimeout=="function"?setTimeout:null,p=typeof clearTimeout=="function"?clearTimeout:null,g=typeof setImmediate<"u"?setImmediate:null;typeof navigator<"u"&&navigator.scheduling!==void 0&&navigator.scheduling.isInputPending!==void 0&&navigator.scheduling.isInputPending.bind(navigator.scheduling);function w(A){for(var N=n(u);N!==null;){if(N.callback===null)r(u);else if(N.startTime<=A)r(u),N.sortIndex=N.expirationTime,t(s,N);else break;N=n(u)}}function S(A){if(b=!1,w(A),!y)if(n(s)!==null)y=!0,Q(E);else{var N=n(u);N!==null&&G(S,N.startTime-A)}}function E(A,N){y=!1,b&&(b=!1,p($),$=-1),v=!0;var F=d;try{for(w(N),f=n(s);f!==null&&(!(f.expirationTime>N)||A&&!ee());){var K=f.callback;if(typeof K=="function"){f.callback=null,d=f.priorityLevel;var _=K(f.expirationTime<=N);N=e.unstable_now(),typeof _=="function"?f.callback=_:f===n(s)&&r(s),w(N)}else r(s);f=n(s)}if(f!==null)var M=!0;else{var L=n(u);L!==null&&G(S,L.startTime-N),M=!1}return M}finally{f=null,d=F,v=!1}}var T=!1,C=null,$=-1,j=5,U=-1;function ee(){return!(e.unstable_now()-U<j)}function Be(){if(C!==null){var A=e.unstable_now();U=A;var N=!0;try{N=C(!0,A)}finally{N?se():(T=!1,C=null)}}else T=!1}var se;if(typeof g=="function")se=function(){g(Be)};else if(typeof MessageChannel<"u"){var P=new MessageChannel,W=P.port2;P.port1.onmessage=Be,se=function(){W.postMessage(null)}}else se=function(){x(Be,0)};function Q(A){C=A,T||(T=!0,se())}function G(A,N){$=x(function(){A(e.unstable_now())},N)}e.unstable_IdlePriority=5,e.unstable_ImmediatePriority=1,e.unstable_LowPriority=4,e.unstable_NormalPriority=3,e.unstable_Profiling=null,e.unstable_UserBlockingPriority=2,e.unstable_cancelCallback=function(A){A.callback=null},e.unstable_continueExecution=function(){y||v||(y=!0,Q(E))},e.unstable_forceFrameRate=function(A){0>A||125<A?console.error("forceFrameRate takes a positive int between 0 and 125, forcing frame rates higher than 125 fps is not supported"):j=0<A?Math.floor(1e3/A):5},e.unstable_getCurrentPriorityLevel=function(){return d},e.unstable_getFirstCallbackNode=function(){return n(s)},e.unstable_next=function(A){switch(d){case 1:case 2:case 3:var N=3;break;default:N=d}var F=d;d=N;try{return A()}finally{d=F}},e.unstable_pauseExecution=function(){},e.unstable_requestPaint=function(){},e.unstable_runWithPriority=function(A,N){switch(A){case 1:case 2:case 3:case 4:case 5:break;default:A=3}var F=d;d=A;try{return N()}finally{d=F}},e.unstable_scheduleCallback=function(A,N,F){var K=e.unstable_now();switch(typeof F=="object"&&F!==null?(F=F.delay,F=typeof F=="number"&&0<F?K+F:K):F=K,A){case 1:var _=-1;break;case 2:_=250;break;case 5:_=1073741823;break;case 4:_=1e4;break;default:_=5e3}return _=F+_,A={id:c++,callback:N,priorityLevel:A,startTime:F,expirationTime:_,sortIndex:-1},F>K?(A.sortIndex=F,t(u,A),n(s)===null&&A===n(u)&&(b?(p($),$=-1):b=!0,G(S,F-K))):(A.sortIndex=_,t(s,A),y||v||(y=!0,Q(E))),A},e.unstable_shouldYield=ee,e.unstable_wrapCallback=function(A){var N=d;return function(){var F=d;d=N;try{return A.apply(this,arguments)}finally{d=F}}}})(Zv);Yv.exports=Zv;var J3=Yv.exports;/**
+ * @license React
+ * react-dom.production.min.js
+ *
+ * Copyright (c) Facebook, Inc. and its affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var qv=k,Nt=J3;function I(e){for(var t="https://reactjs.org/docs/error-decoder.html?invariant="+e,n=1;n<arguments.length;n++)t+="&args[]="+encodeURIComponent(arguments[n]);return"Minified React error #"+e+"; visit "+t+" for the full message or use the non-minified dev environment for full errors and additional helpful warnings."}var Xv=new Set,Ro={};function oa(e,t){ci(e,t),ci(e+"Capture",t)}function ci(e,t){for(Ro[e]=t,e=0;e<t.length;e++)Xv.add(t[e])}var Bn=!(typeof window>"u"||typeof window.document>"u"||typeof window.document.createElement>"u"),_f=Object.prototype.hasOwnProperty,e5=/^[:A-Z_a-z\u00C0-\u00D6\u00D8-\u00F6\u00F8-\u02FF\u0370-\u037D\u037F-\u1FFF\u200C-\u200D\u2070-\u218F\u2C00-\u2FEF\u3001-\uD7FF\uF900-\uFDCF\uFDF0-\uFFFD][:A-Z_a-z\u00C0-\u00D6\u00D8-\u00F6\u00F8-\u02FF\u0370-\u037D\u037F-\u1FFF\u200C-\u200D\u2070-\u218F\u2C00-\u2FEF\u3001-\uD7FF\uF900-\uFDCF\uFDF0-\uFFFD\-.0-9\u00B7\u0300-\u036F\u203F-\u2040]*$/,N0={},D0={};function t5(e){return 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if(e.tag===19)$g(e,n,t);else if(e.child!==null){e.child.return=e,e=e.child;continue}if(e===t)break e;for(;e.sibling===null;){if(e.return===null||e.return===t)break e;e=e.return}e.sibling.return=e.return,e=e.sibling}r&=1}if(Se(Re,r),!(t.mode&1))t.memoizedState=null;else switch(a){case"forwards":for(n=t.child,a=null;n!==null;)e=n.alternate,e!==null&&Ys(e)===null&&(a=n),n=n.sibling;n=a,n===null?(a=t.child,t.child=null):(a=n.sibling,n.sibling=null),Zc(t,!1,a,n,i);break;case"backwards":for(n=null,a=t.child,t.child=null;a!==null;){if(e=a.alternate,e!==null&&Ys(e)===null){t.child=a;break}e=a.sibling,a.sibling=n,n=a,a=e}Zc(t,!0,n,null,i);break;case"together":Zc(t,!1,null,null,void 0);break;default:t.memoizedState=null}return t.child}function ss(e,t){!(t.mode&1)&&e!==null&&(e.alternate=null,t.alternate=null,t.flags|=2)}function Hn(e,t,n){if(e!==null&&(t.dependencies=e.dependencies),Kr|=t.lanes,!(n&t.childLanes))return null;if(e!==null&&t.child!==e.child)throw Error(I(153));if(t.child!==null){for(e=t.child,n=yr(e,e.pendingProps),t.child=n,n.return=t;e.sibling!==null;)e=e.sibling,n=n.sibling=yr(e,e.pendingProps),n.return=t;n.sibling=null}return t.child}function L4(e,t,n){switch(t.tag){case 3:k2(t),di();break;case 5:t2(t);break;case 1:St(t.type)&&zs(t);break;case 4:Mp(t,t.stateNode.containerInfo);break;case 10:var r=t.type._context,a=t.memoizedProps.value;Se(Ws,r._currentValue),r._currentValue=a;break;case 13:if(r=t.memoizedState,r!==null)return r.dehydrated!==null?(Se(Re,Re.current&1),t.flags|=128,null):n&t.child.childLanes?T2(e,t,n):(Se(Re,Re.current&1),e=Hn(e,t,n),e!==null?e.sibling:null);Se(Re,Re.current&1);break;case 19:if(r=(n&t.childLanes)!==0,e.flags&128){if(r)return O2(e,t,n);t.flags|=128}if(a=t.memoizedState,a!==null&&(a.rendering=null,a.tail=null,a.lastEffect=null),Se(Re,Re.current),r)break;return null;case 22:case 23:return t.lanes=0,C2(e,t,n)}return Hn(e,t,n)}var $2,od,P2,M2;$2=function(e,t){for(var n=t.child;n!==null;){if(n.tag===5||n.tag===6)e.appendChild(n.stateNode);else if(n.tag!==4&&n.child!==null){n.child.return=n,n=n.child;continue}if(n===t)break;for(;n.sibling===null;){if(n.return===null||n.return===t)return;n=n.return}n.sibling.return=n.return,n=n.sibling}};od=function(){};P2=function(e,t,n,r){var a=e.memoizedProps;if(a!==r){e=t.stateNode,Ur(xn.current);var i=null;switch(n){case"input":a=Of(e,a),r=Of(e,r),i=[];break;case"select":a=Le({},a,{value:void 0}),r=Le({},r,{value:void 0}),i=[];break;case"textarea":a=Mf(e,a),r=Mf(e,r),i=[];break;default:typeof a.onClick!="function"&&typeof r.onClick=="function"&&(e.onclick=Fs)}Af(n,r);var o;n=null;for(u in a)if(!r.hasOwnProperty(u)&&a.hasOwnProperty(u)&&a[u]!=null)if(u==="style"){var l=a[u];for(o in l)l.hasOwnProperty(o)&&(n||(n={}),n[o]="")}else 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Ui(e,t){if(!Pe)switch(e.tailMode){case"hidden":t=e.tail;for(var n=null;t!==null;)t.alternate!==null&&(n=t),t=t.sibling;n===null?e.tail=null:n.sibling=null;break;case"collapsed":n=e.tail;for(var r=null;n!==null;)n.alternate!==null&&(r=n),n=n.sibling;r===null?t||e.tail===null?e.tail=null:e.tail.sibling=null:r.sibling=null}}function nt(e){var t=e.alternate!==null&&e.alternate.child===e.child,n=0,r=0;if(t)for(var a=e.child;a!==null;)n|=a.lanes|a.childLanes,r|=a.subtreeFlags&14680064,r|=a.flags&14680064,a.return=e,a=a.sibling;else for(a=e.child;a!==null;)n|=a.lanes|a.childLanes,r|=a.subtreeFlags,r|=a.flags,a.return=e,a=a.sibling;return e.subtreeFlags|=r,e.childLanes=n,t}function N4(e,t,n){var r=t.pendingProps;switch(Cp(t),t.tag){case 2:case 16:case 15:case 0:case 11:case 7:case 8:case 12:case 9:case 14:return nt(t),null;case 1:return St(t.type)&&Bs(),nt(t),null;case 3:return r=t.stateNode,hi(),ke(xt),ke(st),Ap(),r.pendingContext&&(r.context=r.pendingContext,r.pendingContext=null),(e===null||e.child===null)&&(Dl(t)?t.flags|=4:e===null||e.memoizedState.isDehydrated&&!(t.flags&256)||(t.flags|=1024,tn!==null&&(hd(tn),tn=null))),od(e,t),nt(t),null;case 5:Rp(t);var a=Ur(Wo.current);if(n=t.type,e!==null&&t.stateNode!=null)P2(e,t,n,r,a),e.ref!==t.ref&&(t.flags|=512,t.flags|=2097152);else{if(!r){if(t.stateNode===null)throw Error(I(166));return nt(t),null}if(e=Ur(xn.current),Dl(t)){r=t.stateNode,n=t.type;var i=t.memoizedProps;switch(r[vn]=t,r[Uo]=i,e=(t.mode&1)!==0,n){case"dialog":_e("cancel",r),_e("close",r);break;case"iframe":case"object":case"embed":_e("load",r);break;case"video":case"audio":for(a=0;a<ao.length;a++)_e(ao[a],r);break;case"source":_e("error",r);break;case"img":case"image":case"link":_e("error",r),_e("load",r);break;case"details":_e("toggle",r);break;case"input":j0(r,i),_e("invalid",r);break;case"select":r._wrapperState={wasMultiple:!!i.multiple},_e("invalid",r);break;case"textarea":B0(r,i),_e("invalid",r)}Af(n,i),a=null;for(var o in i)if(i.hasOwnProperty(o)){var l=i[o];o==="children"?typeof l=="string"?r.textContent!==l&&(i.suppressHydrationWarning!==!0&&Nl(r.textContent,l,e),a=["children",l]):typeof l=="number"&&r.textContent!==""+l&&(i.suppressHydrationWarning!==!0&&Nl(r.textContent,l,e),a=["children",""+l]):Ro.hasOwnProperty(o)&&l!=null&&o==="onScroll"&&_e("scroll",r)}switch(n){case"input":Tl(r),F0(r,i,!0);break;case"textarea":Tl(r),z0(r);break;case"select":case"option":break;default:typeof i.onClick=="function"&&(r.onclick=Fs)}r=a,t.updateQueue=r,r!==null&&(t.flags|=4)}else{o=a.nodeType===9?a:a.ownerDocument,e==="http://www.w3.org/1999/xhtml"&&(e=ay(n)),e==="http://www.w3.org/1999/xhtml"?n==="script"?(e=o.createElement("div"),e.innerHTML="<script><\/script>",e=e.removeChild(e.firstChild)):typeof r.is=="string"?e=o.createElement(n,{is:r.is}):(e=o.createElement(n),n==="select"&&(o=e,r.multiple?o.multiple=!0:r.size&&(o.size=r.size))):e=o.createElementNS(e,n),e[vn]=t,e[Uo]=r,$2(e,t,!1,!1),t.stateNode=e;e:{switch(o=Lf(n,r),n){case"dialog":_e("cancel",e),_e("close",e),a=r;break;case"iframe":case"object":case"embed":_e("load",e),a=r;break;case"video":case"audio":for(a=0;a<ao.length;a++)_e(ao[a],e);a=r;break;case"source":_e("error",e),a=r;break;case"img":case"image":case"link":_e("error",e),_e("load",e),a=r;break;case"details":_e("toggle",e),a=r;break;case"input":j0(e,r),a=Of(e,r),_e("invalid",e);break;case"option":a=r;break;case"select":e._wrapperState={wasMultiple:!!r.multiple},a=Le({},r,{value:void 0}),_e("invalid",e);break;case"textarea":B0(e,r),a=Mf(e,r),_e("invalid",e);break;default:a=r}Af(n,a),l=a;for(i in l)if(l.hasOwnProperty(i)){var s=l[i];i==="style"?ly(e,s):i==="dangerouslySetInnerHTML"?(s=s?s.__html:void 0,s!=null&&iy(e,s)):i==="children"?typeof s=="string"?(n!=="textarea"||s!=="")&&Ao(e,s):typeof s=="number"&&Ao(e,""+s):i!=="suppressContentEditableWarning"&&i!=="suppressHydrationWarning"&&i!=="autoFocus"&&(Ro.hasOwnProperty(i)?s!=null&&i==="onScroll"&&_e("scroll",e):s!=null&&up(e,i,s,o))}switch(n){case"input":Tl(e),F0(e,r,!1);break;case"textarea":Tl(e),z0(e);break;case"option":r.value!=null&&e.setAttribute("value",""+br(r.value));break;case"select":e.multiple=!!r.multiple,i=r.value,i!=null?ei(e,!!r.multiple,i,!1):r.defaultValue!=null&&ei(e,!!r.multiple,r.defaultValue,!0);break;default:typeof a.onClick=="function"&&(e.onclick=Fs)}switch(n){case"button":case"input":case"select":case"textarea":r=!!r.autoFocus;break e;case"img":r=!0;break e;default:r=!1}}r&&(t.flags|=4)}t.ref!==null&&(t.flags|=512,t.flags|=2097152)}return nt(t),null;case 6:if(e&&t.stateNode!=null)M2(e,t,e.memoizedProps,r);else{if(typeof r!="string"&&t.stateNode===null)throw Error(I(166));if(n=Ur(Wo.current),Ur(xn.current),Dl(t)){if(r=t.stateNode,n=t.memoizedProps,r[vn]=t,(i=r.nodeValue!==n)&&(e=Rt,e!==null))switch(e.tag){case 3:Nl(r.nodeValue,n,(e.mode&1)!==0);break;case 5:e.memoizedProps.suppressHydrationWarning!==!0&&Nl(r.nodeValue,n,(e.mode&1)!==0)}i&&(t.flags|=4)}else r=(n.nodeType===9?n:n.ownerDocument).createTextNode(r),r[vn]=t,t.stateNode=r}return nt(t),null;case 13:if(ke(Re),r=t.memoizedState,e===null||e.memoizedState!==null&&e.memoizedState.dehydrated!==null){if(Pe&&Mt!==null&&t.mode&1&&!(t.flags&128))Zy(),di(),t.flags|=98560,i=!1;else if(i=Dl(t),r!==null&&r.dehydrated!==null){if(e===null){if(!i)throw Error(I(318));if(i=t.memoizedState,i=i!==null?i.dehydrated:null,!i)throw Error(I(317));i[vn]=t}else di(),!(t.flags&128)&&(t.memoizedState=null),t.flags|=4;nt(t),i=!1}else tn!==null&&(hd(tn),tn=null),i=!0;if(!i)return t.flags&65536?t:null}return t.flags&128?(t.lanes=n,t):(r=r!==null,r!==(e!==null&&e.memoizedState!==null)&&r&&(t.child.flags|=8192,t.mode&1&&(e===null||Re.current&1?Ge===0&&(Ge=3):Vp())),t.updateQueue!==null&&(t.flags|=4),nt(t),null);case 4:return hi(),od(e,t),e===null&&Bo(t.stateNode.containerInfo),nt(t),null;case 10:return Op(t.type._context),nt(t),null;case 17:return St(t.type)&&Bs(),nt(t),null;case 19:if(ke(Re),i=t.memoizedState,i===null)return nt(t),null;if(r=(t.flags&128)!==0,o=i.rendering,o===null)if(r)Ui(i,!1);else{if(Ge!==0||e!==null&&e.flags&128)for(e=t.child;e!==null;){if(o=Ys(e),o!==null){for(t.flags|=128,Ui(i,!1),r=o.updateQueue,r!==null&&(t.updateQueue=r,t.flags|=4),t.subtreeFlags=0,r=n,n=t.child;n!==null;)i=n,e=r,i.flags&=14680066,o=i.alternate,o===null?(i.childLanes=0,i.lanes=e,i.child=null,i.subtreeFlags=0,i.memoizedProps=null,i.memoizedState=null,i.updateQueue=null,i.dependencies=null,i.stateNode=null):(i.childLanes=o.childLanes,i.lanes=o.lanes,i.child=o.child,i.subtreeFlags=0,i.deletions=null,i.memoizedProps=o.memoizedProps,i.memoizedState=o.memoizedState,i.updateQueue=o.updateQueue,i.type=o.type,e=o.dependencies,i.dependencies=e===null?null:{lanes:e.lanes,firstContext:e.firstContext}),n=n.sibling;return Se(Re,Re.current&1|2),t.child}e=e.sibling}i.tail!==null&&Ie()>mi&&(t.flags|=128,r=!0,Ui(i,!1),t.lanes=4194304)}else{if(!r)if(e=Ys(o),e!==null){if(t.flags|=128,r=!0,n=e.updateQueue,n!==null&&(t.updateQueue=n,t.flags|=4),Ui(i,!0),i.tail===null&&i.tailMode==="hidden"&&!o.alternate&&!Pe)return nt(t),null}else 2*Ie()-i.renderingStartTime>mi&&n!==1073741824&&(t.flags|=128,r=!0,Ui(i,!1),t.lanes=4194304);i.isBackwards?(o.sibling=t.child,t.child=o):(n=i.last,n!==null?n.sibling=o:t.child=o,i.last=o)}return i.tail!==null?(t=i.tail,i.rendering=t,i.tail=t.sibling,i.renderingStartTime=Ie(),t.sibling=null,n=Re.current,Se(Re,r?n&1|2:n&1),t):(nt(t),null);case 22:case 23:return Wp(),r=t.memoizedState!==null,e!==null&&e.memoizedState!==null!==r&&(t.flags|=8192),r&&t.mode&1?Pt&1073741824&&(nt(t),t.subtreeFlags&6&&(t.flags|=8192)):nt(t),null;case 24:return null;case 25:return null}throw Error(I(156,t.tag))}function D4(e,t){switch(Cp(t),t.tag){case 1:return 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l0({typeName:ae.ZodNever,...ue(t)}));const Ja=class extends we{_parse(t){const{ctx:n,status:r}=this._processInputParams(t),a=this._def;if(n.parsedType!==X.array)return q(n,{code:B.invalid_type,expected:X.array,received:n.parsedType}),fe;if(a.exactLength!==null){const o=n.data.length>a.exactLength.value,l=n.data.length<a.exactLength.value;(o||l)&&(q(n,{code:o?B.too_big:B.too_small,minimum:l?a.exactLength.value:void 0,maximum:o?a.exactLength.value:void 0,type:"array",inclusive:!0,exact:!0,message:a.exactLength.message}),r.dirty())}if(a.minLength!==null&&n.data.length<a.minLength.value&&(q(n,{code:B.too_small,minimum:a.minLength.value,type:"array",inclusive:!0,exact:!1,message:a.minLength.message}),r.dirty()),a.maxLength!==null&&n.data.length>a.maxLength.value&&(q(n,{code:B.too_big,maximum:a.maxLength.value,type:"array",inclusive:!0,exact:!1,message:a.maxLength.message}),r.dirty()),n.common.async)return Promise.all([...n.data].map((o,l)=>a.type._parseAsync(new ta(n,o,n.path,l)))).then(o=>ht.mergeArray(r,o));const i=[...n.data].map((o,l)=>a.type._parseSync(new ta(n,o,n.path,l)));return ht.mergeArray(r,i)}get element(){return this._def.type}min(t,n){return new Ja({...this._def,minLength:{value:t,message:ve(n)}})}max(t,n){return new Ja({...this._def,maxLength:{value:t,message:ve(n)}})}length(t,n){return new Ja({...this._def,exactLength:{value:t,message:ve(n)}})}nonempty(t){return this.min(1,t)}};let Gr=Ja;H(Gr,"create",(t,n)=>new Ja({type:t,minLength:null,maxLength:null,exactLength:null,typeName:ae.ZodArray,...ue(n)}));function xa(e){if(e instanceof yn){const t={};for(const n in e.shape){const r=e.shape[n];t[n]=Fn.create(xa(r))}return new yn({...e._def,shape:()=>t})}else return e instanceof Gr?new Gr({...e._def,type:xa(e.element)}):e instanceof Fn?Fn.create(xa(e.unwrap())):e instanceof Yr?Yr.create(xa(e.unwrap())):e instanceof si?si.create(e.items.map(t=>xa(t))):e}const ut=class extends we{constructor(){super(...arguments);H(this,"_cached",null);H(this,"nonstrict",this.passthrough);H(this,"augment",this.extend)}_getCached(){if(this._cached!==null)return this._cached;const n=this._def.shape(),r=mn(n);return this._cached={shape:n,keys:r}}_parse(n){if(this._getType(n)!==X.object){const c=this._getOrReturnCtx(n);return q(c,{code:B.invalid_type,expected:X.object,received:c.parsedType}),fe}const{status:a,ctx:i}=this._processInputParams(n),{shape:o,keys:l}=this._getCached(),s=[];if(!(this._def.catchall instanceof Ln&&this._def.unknownKeys==="strip"))for(const c in i.data)l.includes(c)||s.push(c);const u=[];for(const c of l){const f=o[c],d=i.data[c];u.push({key:{status:"valid",value:c},value:f._parse(new ta(i,d,i.path,c)),alwaysSet:c in i.data})}if(this._def.catchall instanceof Ln){const c=this._def.unknownKeys;if(c==="passthrough")for(const f of s)u.push({key:{status:"valid",value:f},value:{status:"valid",value:i.data[f]}});else 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ut({...this._def,unknownKeys:"passthrough"})}extend(n){return new ut({...this._def,shape:()=>({...this._def.shape(),...n})})}merge(n){return new ut({unknownKeys:n._def.unknownKeys,catchall:n._def.catchall,shape:()=>({...this._def.shape(),...n._def.shape()}),typeName:ae.ZodObject})}setKey(n,r){return this.augment({[n]:r})}catchall(n){return new ut({...this._def,catchall:n})}pick(n){const r={};return mn(n).forEach(a=>{n[a]&&this.shape[a]&&(r[a]=this.shape[a])}),new ut({...this._def,shape:()=>r})}omit(n){const r={};return mn(this.shape).forEach(a=>{n[a]||(r[a]=this.shape[a])}),new ut({...this._def,shape:()=>r})}deepPartial(){return xa(this)}partial(n){const r={};return mn(this.shape).forEach(a=>{const i=this.shape[a];n&&!n[a]?r[a]=i:r[a]=i.optional()}),new ut({...this._def,shape:()=>r})}required(n){const r={};return mn(this.shape).forEach(a=>{if(n&&!n[a])r[a]=this.shape[a];else{let o=this.shape[a];for(;o instanceof Fn;)o=o._def.innerType;r[a]=o}}),new 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q(n,{code:B.invalid_type,expected:X.object,received:n.parsedType}),fe;const r=this.discriminator,a=n.data[r],i=this.optionsMap.get(a);return i?n.common.async?i._parseAsync({data:n.data,path:n.path,parent:n}):i._parseSync({data:n.data,path:n.path,parent:n}):(q(n,{code:B.invalid_union_discriminator,options:Array.from(this.optionsMap.keys()),path:[r]}),fe)}get discriminator(){return this._def.discriminator}get options(){return this._def.options}get optionsMap(){return this._def.optionsMap}static create(t,n,r){const a=new Map;for(const i of n){const o=_s(i.shape[t]);if(!o)throw new Error(`A discriminator value for key \`${t}\` could not be extracted from all schema options`);for(const l of o){if(a.has(l))throw new Error(`Discriminator property ${String(t)} has duplicate value ${String(l)}`);a.set(l,i)}}return new ih({typeName:ae.ZodDiscriminatedUnion,discriminator:t,options:n,optionsMap:a,...ue(r)})}}function Ld(e,t){const n=Ir(e),r=Ir(t);if(e===t)return{valid:!0,data:e};if(n===X.object&&r===X.object){const a=mn(t),i=mn(e).filter(l=>a.indexOf(l)!==-1),o={...e,...t};for(const l of i){const s=Ld(e[l],t[l]);if(!s.valid)return{valid:!1};o[l]=s.data}return{valid:!0,data:o}}else if(n===X.array&&r===X.array){if(e.length!==t.length)return{valid:!1};const a=[];for(let i=0;i<e.length;i++){const o=e[i],l=t[i],s=Ld(o,l);if(!s.valid)return{valid:!1};a.push(s.data)}return{valid:!0,data:a}}else return n===X.date&&r===X.date&&+e==+t?{valid:!0,data:e}:{valid:!1}}const u0=class extends we{_parse(t){const{status:n,ctx:r}=this._processInputParams(t),a=(i,o)=>{if(x1(i)||x1(o))return fe;const l=Ld(i.value,o.value);return l.valid?((S1(i)||S1(o))&&n.dirty(),{status:n.value,value:l.data}):(q(r,{code:B.invalid_intersection_types}),fe)};return r.common.async?Promise.all([this._def.left._parseAsync({data:r.data,path:r.path,parent:r}),this._def.right._parseAsync({data:r.data,path:r.path,parent:r})]).then(([i,o])=>a(i,o)):a(this._def.left._parseSync({data:r.data,path:r.path,parent:r}),this._def.right._parseSync({data:r.data,path:r.path,parent:r}))}};let Cs=u0;H(Cs,"create",(t,n,r)=>new u0({left:t,right:n,typeName:ae.ZodIntersection,...ue(r)}));const Eu=class extends we{_parse(t){const{status:n,ctx:r}=this._processInputParams(t);if(r.parsedType!==X.array)return q(r,{code:B.invalid_type,expected:X.array,received:r.parsedType}),fe;if(r.data.length<this._def.items.length)return q(r,{code:B.too_small,minimum:this._def.items.length,inclusive:!0,exact:!1,type:"array"}),fe;!this._def.rest&&r.data.length>this._def.items.length&&(q(r,{code:B.too_big,maximum:this._def.items.length,inclusive:!0,exact:!1,type:"array"}),n.dirty());const i=[...r.data].map((o,l)=>{const s=this._def.items[l]||this._def.rest;return s?s._parse(new ta(r,o,r.path,l)):null}).filter(o=>!!o);return r.common.async?Promise.all(i).then(o=>ht.mergeArray(n,o)):ht.mergeArray(n,i)}get items(){return this._def.items}rest(t){return new Eu({...this._def,rest:t})}};let si=Eu;H(si,"create",(t,n)=>{if(!Array.isArray(t))throw new Error("You must pass an array of schemas to z.tuple([ ... ])");return new Eu({items:t,typeName:ae.ZodTuple,rest:null,...ue(n)})});class fu extends we{get keySchema(){return this._def.keyType}get valueSchema(){return this._def.valueType}_parse(t){const{status:n,ctx:r}=this._processInputParams(t);if(r.parsedType!==X.object)return q(r,{code:B.invalid_type,expected:X.object,received:r.parsedType}),fe;const a=[],i=this._def.keyType,o=this._def.valueType;for(const l in r.data)a.push({key:i._parse(new ta(r,l,r.path,l)),value:o._parse(new ta(r,r.data[l],r.path,l))});return r.common.async?ht.mergeObjectAsync(n,a):ht.mergeObjectSync(n,a)}get element(){return this._def.valueType}static create(t,n,r){return n instanceof we?new fu({keyType:t,valueType:n,typeName:ae.ZodRecord,...ue(r)}):new fu({keyType:wo.create(),valueType:t,typeName:ae.ZodRecord,...ue(n)})}}const c0=class extends we{get schema(){return this._def.getter()}_parse(t){const{ctx:n}=this._processInputParams(t);return this._def.getter()._parse({data:n.data,path:n.path,parent:n})}};let _o=c0;H(_o,"create",(t,n)=>new c0({getter:t,typeName:ae.ZodLazy,...ue(n)}));const f0=class extends we{_parse(t){if(t.data!==this._def.value){const n=this._getOrReturnCtx(t);return q(n,{received:n.data,code:B.invalid_literal,expected:this._def.value}),fe}return{status:"valid",value:t.data}}get value(){return this._def.value}};let Co=f0;H(Co,"create",(t,n)=>new f0({value:t,typeName:ae.ZodLiteral,...ue(n)}));function Zw(e,t){return new ui({values:e,typeName:ae.ZodEnum,...ue(t)})}const ku=class extends we{_parse(t){if(typeof t.data!="string"){const n=this._getOrReturnCtx(t),r=this._def.values;return q(n,{expected:yo(r),received:n.parsedType,code:B.invalid_type}),fe}if(this._def.values.indexOf(t.data)===-1){const n=this._getOrReturnCtx(t),r=this._def.values;return q(n,{received:n.data,code:B.invalid_enum_value,options:r}),fe}return Vn(t.data)}get options(){return this._def.values}get enum(){const t={};for(const n of this._def.values)t[n]=n;return t}get Values(){const t={};for(const n of this._def.values)t[n]=n;return t}get Enum(){const t={};for(const n of this._def.values)t[n]=n;return t}extract(t){return ku.create(t)}exclude(t){return ku.create(this.options.filter(n=>!t.includes(n)))}};let ui=ku;H(ui,"create",Zw);const d0=class extends we{_parse(t){const n=z7(this._def.values),r=this._getOrReturnCtx(t);if(r.parsedType!==X.string&&r.parsedType!==X.number){const a=Md(n);return q(r,{expected:yo(a),received:r.parsedType,code:B.invalid_type}),fe}if(n.indexOf(t.data)===-1){const a=Md(n);return q(r,{received:r.data,code:B.invalid_enum_value,options:a}),fe}return Vn(t.data)}get enum(){return this._def.values}};let Eo=d0;H(Eo,"create",(t,n)=>new d0({values:t,typeName:ae.ZodNativeEnum,...ue(n)}));const p0=class extends we{unwrap(){return this._def.type}_parse(t){const{ctx:n}=this._processInputParams(t);if(n.parsedType!==X.promise&&n.common.async===!1)return q(n,{code:B.invalid_type,expected:X.promise,received:n.parsedType}),fe;const r=n.parsedType===X.promise?n.data:Promise.resolve(n.data);return Vn(r.then(a=>this._def.type.parseAsync(a,{path:n.path,errorMap:n.common.contextualErrorMap})))}};let Es=p0;H(Es,"create",(t,n)=>new p0({type:t,typeName:ae.ZodPromise,...ue(n)}));const Tu=class extends we{innerType(){return this._def.schema}sourceType(){return this._def.schema._def.typeName===ae.ZodEffects?this._def.schema.sourceType():this._def.schema}_parse(t){const{status:n,ctx:r}=this._processInputParams(t),a=this._def.effect||null;if(a.type==="preprocess"){const o=a.transform(r.data);return r.common.async?Promise.resolve(o).then(l=>this._def.schema._parseAsync({data:l,path:r.path,parent:r})):this._def.schema._parseSync({data:o,path:r.path,parent:r})}const i={addIssue:o=>{q(r,o),o.fatal?n.abort():n.dirty()},get path(){return r.path}};if(i.addIssue=i.addIssue.bind(i),a.type==="refinement"){const o=l=>{const s=a.refinement(l,i);if(r.common.async)return Promise.resolve(s);if(s instanceof Promise)throw new Error("Async refinement encountered during synchronous parse operation. 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Use .parseAsync instead.");return{status:n.value,value:l}}else return this._def.schema._parseAsync({data:r.data,path:r.path,parent:r}).then(o=>Rd(o)?Promise.resolve(a.transform(o.value,i)).then(l=>({status:n.value,value:l})):o);ea()}};let In=Tu;H(In,"create",(t,n,r)=>new Tu({schema:t,typeName:ae.ZodEffects,effect:n,...ue(r)})),H(In,"createWithPreprocess",(t,n,r)=>new Tu({schema:n,effect:{type:"preprocess",transform:t},typeName:ae.ZodEffects,...ue(r)}));const h0=class extends we{_parse(t){return this._getType(t)===X.undefined?Vn(void 0):this._def.innerType._parse(t)}unwrap(){return this._def.innerType}};let Fn=h0;H(Fn,"create",(t,n)=>new h0({innerType:t,typeName:ae.ZodOptional,...ue(n)}));const g0=class extends we{_parse(t){return this._getType(t)===X.null?Vn(null):this._def.innerType._parse(t)}unwrap(){return this._def.innerType}};let Yr=g0;H(Yr,"create",(t,n)=>new g0({innerType:t,typeName:ae.ZodNullable,...ue(n)}));const m0=class extends we{_parse(t){const{ctx:n}=this._processInputParams(t);let r=n.data;return n.parsedType===X.undefined&&(r=this._def.defaultValue()),this._def.innerType._parse({data:r,path:n.path,parent:n})}removeDefault(){return this._def.innerType}};let ko=m0;H(ko,"create",(t,n)=>new m0({innerType:t,typeName:ae.ZodDefault,defaultValue:typeof n.default=="function"?n.default:()=>n.default,...ue(n)}));const v0=class extends we{_parse(t){const{ctx:n}=this._processInputParams(t),r={...n,common:{...n.common,issues:[]}},a=this._def.innerType._parse({data:r.data,path:r.path,parent:{...r}});return Ad(a)?a.then(i=>({status:"valid",value:i.status==="valid"?i.value:this._def.catchValue({get error(){return new wr(r.common.issues)},input:r.data})})):{status:"valid",value:a.status==="valid"?a.value:this._def.catchValue({get error(){return new wr(r.common.issues)},input:r.data})}}removeCatch(){return this._def.innerType}};let ks=v0;H(ks,"create",(t,n)=>new v0({innerType:t,typeName:ae.ZodCatch,catchValue:typeof n.catch=="function"?n.catch:()=>n.catch,...ue(n)}));class r9 extends we{_parse(t){const{ctx:n}=this._processInputParams(t),r=n.data;return this._def.type._parse({data:r,path:n.path,parent:n})}unwrap(){return this._def.type}}class oh extends we{_parse(t){const{status:n,ctx:r}=this._processInputParams(t);if(r.common.async)return(async()=>{const i=await this._def.in._parseAsync({data:r.data,path:r.path,parent:r});return i.status==="aborted"?fe:i.status==="dirty"?(n.dirty(),V7(i.value)):this._def.out._parseAsync({data:i.value,path:r.path,parent:r})})();{const a=this._def.in._parseSync({data:r.data,path:r.path,parent:r});return a.status==="aborted"?fe:a.status==="dirty"?(n.dirty(),{status:"dirty",value:a.value}):this._def.out._parseSync({data:a.value,path:r.path,parent:r})}}static create(t,n){return new oh({in:t,out:n,typeName:ae.ZodPipeline})}}yn.lazycreate;var ae;(function(e){e.ZodString="ZodString",e.ZodNumber="ZodNumber",e.ZodNaN="ZodNaN",e.ZodBigInt="ZodBigInt",e.ZodBoolean="ZodBoolean",e.ZodDate="ZodDate",e.ZodSymbol="ZodSymbol",e.ZodUndefined="ZodUndefined",e.ZodNull="ZodNull",e.ZodAny="ZodAny",e.ZodUnknown="ZodUnknown",e.ZodNever="ZodNever",e.ZodVoid="ZodVoid",e.ZodArray="ZodArray",e.ZodObject="ZodObject",e.ZodUnion="ZodUnion",e.ZodDiscriminatedUnion="ZodDiscriminatedUnion",e.ZodIntersection="ZodIntersection",e.ZodTuple="ZodTuple",e.ZodRecord="ZodRecord",e.ZodMap="ZodMap",e.ZodSet="ZodSet",e.ZodFunction="ZodFunction",e.ZodLazy="ZodLazy",e.ZodLiteral="ZodLiteral",e.ZodEnum="ZodEnum",e.ZodEffects="ZodEffects",e.ZodNativeEnum="ZodNativeEnum",e.ZodOptional="ZodOptional",e.ZodNullable="ZodNullable",e.ZodDefault="ZodDefault",e.ZodCatch="ZodCatch",e.ZodPromise="ZodPromise",e.ZodBranded="ZodBranded",e.ZodPipeline="ZodPipeline"})(ae=ae||(ae={}));const ne=wo.create,je=ys.create,a9=ws.create,wn=bs.create,i9=xs.create;bo.create;const 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Please attach `onDrag` or `onStop` handlers so you can adjust the `position` of this element."),D}return Be(L,[{key:"componentDidMount",value:function(){typeof window.SVGElement<"u"&&this.findDOMNode()instanceof window.SVGElement&&this.setState({isElementSVG:!0})}},{key:"componentWillUnmount",value:function(){this.setState({dragging:!1})}},{key:"findDOMNode",value:function(){var D,Y,J;return(D=(Y=this.props)===null||Y===void 0||(J=Y.nodeRef)===null||J===void 0?void 0:J.current)!==null&&D!==void 0?D:a.default.findDOMNode(this)}},{key:"render",value:function(){var D,Y=this.props;Y.axis,Y.bounds;var J=Y.children,de=Y.defaultPosition,ie=Y.defaultClassName,cn=Y.defaultClassNameDragging,ma=Y.defaultClassNameDragged,va=Y.position,Pr=Y.positionOffset;Y.scale;var _c=x(Y,f),_l={},Cl=null,Lx=!!va,y0=!Lx||this.state.dragging,w0=va||de,b0={x:(0,l.canDragX)(this)&&y0?this.state.x:w0.x,y:(0,l.canDragY)(this)&&y0?this.state.y:w0.y};this.state.isElementSVG?Cl=(0,o.createSVGTransform)(b0,Pr):_l=(0,o.createCSSTransform)(b0,Pr);var Nx=(0,i.default)(J.props.className||"",ie,(D={},F(D,cn,this.state.dragging),F(D,ma,this.state.dragged),D));return n.createElement(u.default,b({},_c,{onStart:this.onDragStart,onDrag:this.onDrag,onStop:this.onDragStop}),n.cloneElement(n.Children.only(J),{className:Nx,style:w(w({},J.props.style),_l),transform:Cl}))}}],[{key:"getDerivedStateFromProps",value:function(D,Y){var J=D.position,de=Y.prevPropsPosition;return J&&(!de||J.x!==de.x||J.y!==de.y)?((0,c.default)("Draggable: getDerivedStateFromProps 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gb=ib,mb=gb.default,M8=gb.DraggableCore;Ju.exports=mb;Ju.exports.default=mb;Ju.exports.DraggableCore=M8;var R8=Ju.exports;const A8=ra(R8),P1=e=>{const{streamKey:t,servers:n,draggable:r,onClick:a,className:i}=e,[o,l]=k.useState(0),s=async()=>{const v=await Gt.webrtcRequest(t);if(v.result==="not found")throw new Error("Stream not found!");return v.data},u=()=>{l(Date.now())},c=()=>{Date.now()-o<100&&a()},d=m("div",{className:i,children:m(Ww,{streamKey:t,requestSdp:s,submitSdp:(v,y)=>Gt.webrtcSignal(v,y),servers:n,streamEnabled:!0,videoStreamRendererFactory:I9})});return r&&a?m(A8,{onStart:u,onStop:c,bounds:"parent",children:d}):d};var vb={},rc={},pl={};(function(e){Object.defineProperty(e,"__esModule",{value:!0}),e.JoystickShape=void 0,function(t){t.Circle="circle",t.Square="square",t.AxisY="axisY",t.AxisX="axisX"}(e.JoystickShape||(e.JoystickShape={}))})(pl);var ac={};Object.defineProperty(ac,"__esModule",{value:!0});ac.shapeFactory=void 0;var M1=pl,L8=function(e,t){switch(e){case M1.JoystickShape.Square:return{borderRadius:Math.sqrt(t)};case M1.JoystickShape.Circle:default:return{borderRadius:t}}};ac.shapeFactory=L8;var ic={};Object.defineProperty(ic,"__esModule",{value:!0});ic.shapeBoundsFactory=void 0;var lf=pl,N8=function(e,t,n,r,a,i,o,l,s){switch(e){case lf.JoystickShape.Square:return r=Gl(t-s.left-l/2,l),a=Gl(n-s.top-l/2,l),{relativeX:r,relativeY:a};case lf.JoystickShape.AxisX:return r=Gl(t-s.left-l/2,l),a=0,{relativeX:r,relativeY:a};case lf.JoystickShape.AxisY:return r=0,a=Gl(n-s.top-l/2,l),{relativeX:r,relativeY:a};default:return i>o&&(r*=o/i,a*=o/i),{relativeX:r,relativeY:a}}};ic.shapeBoundsFactory=N8;var Gl=function(e,t){var n=t/2;return e>n?n:e<-n?n*-1:e},D8=ir&&ir.__extends||function(){var e=function(t,n){return e=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(r,a){r.__proto__=a}||function(r,a){for(var i in a)Object.prototype.hasOwnProperty.call(a,i)&&(r[i]=a[i])},e(t,n)};return function(t,n){if(typeof n!="function"&&n!==null)throw new TypeError("Class extends value "+String(n)+" is not a constructor or null");e(t,n);function r(){this.constructor=t}t.prototype=n===null?Object.create(n):(r.prototype=n.prototype,new r)}}(),Qa=ir&&ir.__assign||function(){return Qa=Object.assign||function(e){for(var t,n=1,r=arguments.length;n<r;n++){t=arguments[n];for(var a in t)Object.prototype.hasOwnProperty.call(t,a)&&(e[a]=t[a])}return e},Qa.apply(this,arguments)};Object.defineProperty(rc,"__esModule",{value:!0});rc.Joystick=void 0;var Xi=k,R1=pl,A1=ac,I8=ic,tr;(function(e){e.PointerDown="pointerdown",e.PointerMove="pointermove",e.PointerUp="pointerup"})(tr||(tr={}));var jr;(function(e){e[e.TopRight=2.35619449]="TopRight",e[e.TopLeft=-2.35619449]="TopLeft",e[e.BottomRight=.785398163]="BottomRight",e[e.BottomLeft=-.785398163]="BottomLeft"})(jr||(jr={}));var j8=function(e){D8(t,e);function t(n){var r=e.call(this,n)||this;return r._stickRef=Xi.createRef(),r._baseRef=Xi.createRef(),r.frameId=null,r._pointerId=null,r._mounted=!1,r._pointerMove=function(a){if(a.preventDefault(),r.state.dragging){if(!r.props.followCursor&&a.pointerId!==r._pointerId)return;var i=a.clientX,o=a.clientY,l=i-r._parentRect.left-r._radius,s=o-r._parentRect.top-r._radius,u=r._distance(l,s),c=(0,I8.shapeBoundsFactory)(r.props.controlPlaneShape||r.props.baseShape,i,o,l,s,u,r._radius,r._baseSize,r._parentRect);l=c.relativeX,s=c.relativeY;var f=Math.atan2(l,s);r._updatePos({relativeX:l,relativeY:s,distance:r._distanceToPercentile(u),direction:r._getDirection(f),axisX:i-r._parentRect.left,axisY:o-r._parentRect.top})}},r._pointerUp=function(a){if(a.pointerId===r._pointerId){var i={dragging:!1};r.props.sticky||(i.coordinates=void 0),r.frameId=window.requestAnimationFrame(function(){r._mounted&&r.setState(i)}),window.removeEventListener(tr.PointerUp,r._pointerUp),window.removeEventListener(tr.PointerMove,r._pointerMove),r._pointerId=null,r.props.stop&&r.props.stop({type:"stop",x:r.props.sticky?r.state.coordinates.relativeX*2/r._baseSize:null,y:r.props.sticky?r.state.coordinates.relativeY*2/r._baseSize:null,direction:r.props.sticky?r.state.coordinates.direction:null,distance:r.props.sticky?r.state.coordinates.distance:null})}},r.state={dragging:!1},r._throttleMoveCallback=function(){var a=0;return function(i){var o=new Date().getTime(),l=r.props.throttle||0;if(!(o-a<l)&&(a=o,r.props.move))return r.props.move(i)}}(),r}return t.prototype.componentWillUnmount=function(){var n=this;this._mounted=!1,this.props.followCursor&&window.removeEventListener(tr.PointerMove,function(r){return n._pointerMove(r)}),this.frameId!==null&&window.cancelAnimationFrame(this.frameId)},t.prototype.componentDidMount=function(){var n=this;this._mounted=!0,this.props.followCursor&&(this._parentRect=this._baseRef.current.getBoundingClientRect(),this.setState({dragging:!0}),window.addEventListener(tr.PointerMove,function(r){return n._pointerMove(r)}),this.props.start&&this.props.start({type:"start",x:null,y:null,distance:null,direction:null}))},t.prototype._updatePos=function(n){var r=this;this.frameId=window.requestAnimationFrame(function(){r._mounted&&r.setState({coordinates:n})}),!(typeof this.props.minDistance=="number"&&n.distance<this.props.minDistance)&&this._throttleMoveCallback({type:"move",x:n.relativeX*2/this._baseSize,y:-(n.relativeY*2/this._baseSize),direction:n.direction,distance:n.distance})},t.prototype._pointerDown=function(n){this.props.disabled||this.props.followCursor||(this._parentRect=this._baseRef.current.getBoundingClientRect(),this.setState({dragging:!0}),window.addEventListener(tr.PointerUp,this._pointerUp),window.addEventListener(tr.PointerMove,this._pointerMove),this._pointerId=n.pointerId,this._stickRef.current.setPointerCapture(n.pointerId),this.props.start&&this.props.start({type:"start",x:null,y:null,distance:null,direction:null}))},t.prototype._getDirection=function(n){return n>jr.TopRight||n<jr.TopLeft?"FORWARD":n<jr.TopRight&&n>jr.BottomRight?"RIGHT":n<jr.BottomLeft?"LEFT":"BACKWARD"},t.prototype._distance=function(n,r){return Math.hypot(n,r)},t.prototype._distanceToPercentile=function(n){var r=n/(this._baseSize/2)*100;return r>100?100:r},t.prototype.getBaseShapeStyle=function(){var n=this.props.baseShape||R1.JoystickShape.Circle;return(0,A1.shapeFactory)(n,this._baseSize)},t.prototype.getStickShapeStyle=function(){var n=this.props.stickShape||R1.JoystickShape.Circle;return(0,A1.shapeFactory)(n,this._baseSize)},t.prototype._getBaseStyle=function(){var n=this.props.baseColor!==void 0?this.props.baseColor:"#000033",r="".concat(this._baseSize,"px"),a=Qa(Qa({},this.getBaseShapeStyle()),{height:r,width:r,background:n,display:"flex",justifyContent:"center",alignItems:"center"});return this.props.baseImage&&(a.background="url(".concat(this.props.baseImage,")"),a.backgroundSize="100%"),a},t.prototype._getStickStyle=function(){var n=this.props.stickColor!==void 0?this.props.stickColor:"#3D59AB",r=this._stickSize?"".concat(this._stickSize,"px"):"".concat(this._baseSize/1.5,"px"),a=Qa(Qa({},this.getStickShapeStyle()),{background:n,cursor:"move",height:r,width:r,border:"none",flexShrink:0,touchAction:"none"});return this.props.stickImage&&(a.background="url(".concat(this.props.stickImage,")"),a.backgroundSize="100%"),this.props.pos&&(a=Object.assign({},a,{position:"absolute",transform:"translate3d(".concat(this.props.pos.x*this._baseSize/2,"px, ").concat(-(this.props.pos.y*this._baseSize)/2,"px, 0)")})),this.state.coordinates!==void 0&&(a=Object.assign({},a,{position:"absolute",transform:"translate3d(".concat(this.state.coordinates.relativeX,"px, ").concat(this.state.coordinates.relativeY,"px, 0)")})),a},t.prototype.render=function(){var n=this;this._baseSize=this.props.size||100,this._stickSize=this.props.stickSize,this._radius=this._baseSize/2;var r=this._getBaseStyle(),a=this._getStickStyle();return Xi.createElement("div",{"data-testid":"joystick-base",className:this.props.disabled?"joystick-base-disabled":"",ref:this._baseRef,style:r},Xi.createElement("button",{ref:this._stickRef,disabled:this.props.disabled,onPointerDown:function(i){return n._pointerDown(i)},className:this.props.disabled?"joystick-disabled":"",style:a}))},t}(Xi.Component);rc.Joystick=j8;(function(e){Object.defineProperty(e,"__esModule",{value:!0}),e.JoystickShape=e.Joystick=void 0;var t=rc;Object.defineProperty(e,"Joystick",{enumerable:!0,get:function(){return t.Joystick}});var n=pl;Object.defineProperty(e,"JoystickShape",{enumerable:!0,get:function(){return n.JoystickShape}})})(vb);const F8=e=>{const{x:t,y:n,handleMove:r,handleStop:a}=e;return m(vb.Joystick,{size:150,stickSize:100,baseColor:"rgba(200, 200, 200, 0.3)",stickColor:"rgba(200, 200, 200, 0.4)",move:r,stop:a,pos:{x:t,y:n}})},B8=e=>{const{color:t,rotation:n,size:r,opacity:a,onMouseDown:i,onMouseUp:o}=e;return m("span",{onTouchStart:i,onTouchEnd:o,onMouseDown:i,onMouseUp:o,children:z("svg",{version:"1.0",xmlns:"http://www.w3.org/2000/svg",width:r,height:r,viewBox:"0 0 680 680",fill:t,opacity:a,style:{transform:`rotate(${n}deg)`},children:[m("path",{d:"M97 21.7c-7.9 1.3-18.5 5-26.4 9-7.5 3.9-10.9 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+              background: -webkit-linear-gradient(to right, #f00 0%, #ff0
+                17%, #0f0 33%, #0ff 50%, #00f 67%, #f0f 83%, #f00 100%);
+            }
+
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+              background: linear-gradient(to top, #f00 0%, #ff0 17%, #0f0 33%,
+                #0ff 50%, #00f 67%, #f0f 83%, #f00 100%);
+              background: -webkit-linear-gradient(to top, #f00 0%, #ff0 17%,
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diff --git a/Working with RAE/RAE Default App/frontend/assets/raetest02-8e37e8aa.png b/Working with RAE/RAE Default App/frontend/assets/raetest02-8e37e8aa.png
new file mode 100644
index 0000000..0a2ac0f
Binary files /dev/null and b/Working with RAE/RAE Default App/frontend/assets/raetest02-8e37e8aa.png differ
diff --git a/Working with RAE/RAE Default App/frontend/index.html b/Working with RAE/RAE Default App/frontend/index.html
new file mode 100644
index 0000000..8c88d58
--- /dev/null
+++ b/Working with RAE/RAE Default App/frontend/index.html	
@@ -0,0 +1,15 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Rae - Robotics Access for Everyone</title>
+    <link rel="icon" type="image/x-icon" href="./assets/luxonis_logo-d1be00fb.svg">
+    <script type="module" crossorigin src="./assets/main-638d2ebc.js"></script>
+    <link rel="stylesheet" href="./assets/index-37243f35.css">
+  </head>
+  <body>
+    <div id="root"></div>
+    
+  </body>
+</html>
diff --git a/Working with RAE/RAE Default App/logs/app.log b/Working with RAE/RAE Default App/logs/app.log
new file mode 100644
index 0000000..e69de29
diff --git a/Working with RAE/RAE Default App/robotapp.toml b/Working with RAE/RAE Default App/robotapp.toml
new file mode 100644
index 0000000..b0c7a6d
--- /dev/null
+++ b/Working with RAE/RAE Default App/robotapp.toml	
@@ -0,0 +1,19 @@
+config_version = "2.0"
+configuration = []
+
+[info]
+name = "RAE Default Application"
+description = "RAE Default Application"
+
+[runtime]
+application = "src/follow_me.py#Application"
+workdir = "/app"
+pre_launch = "export ROS_DOMAIN_ID=30\n. /opt/ros/$ROS_DISTRO/setup.sh\n. /ws/install/setup.sh && export LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+permissions = ["rae-peripherals"]
+
+[runtime.frontend]
+redirectToIndex = true
+
+[runtime.runs_on]
+type = "image"
+name = "luxonis/rae-ros-robot:dai_ros_py_sound"
diff --git a/Working with RAE/RAE Default App/src/__init__.py b/Working with RAE/RAE Default App/src/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/Working with RAE/RAE Default App/src/api/__init__.py b/Working with RAE/RAE Default App/src/api/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/Working with RAE/RAE Default App/src/api/performance.py b/Working with RAE/RAE Default App/src/api/performance.py
new file mode 100644
index 0000000..6cf95eb
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/api/performance.py	
@@ -0,0 +1,127 @@
+import logging as log
+import logging
+import tracemalloc
+from collections import defaultdict
+from time import perf_counter
+from typing import Any, Callable
+
+
+def measure_performance(func: Callable[..., Any]) -> Callable[..., Any]:
+    def wrapper(*args: Any, **kwargs: Any) -> Any:
+        start_time = perf_counter()
+        value = func(*args, **kwargs)
+        end_time = perf_counter()
+        run_time = end_time - start_time
+        print(f"Execution of {func.__name__} took {run_time:.5f} seconds,")
+        return value
+
+    return wrapper
+
+
+def default_value_10_000_000() -> float:
+    return 10_000_000.
+
+
+# lock = Lock()
+list_of_durations = defaultdict(list)
+maximum_duration: dict[Any, float] = defaultdict(float)
+minimum_duration: dict[Any, float] = defaultdict(default_value_10_000_000)
+last_report_at: dict[Any, float] = defaultdict(float)
+# maximum_duration = 0  # in seconds
+# minimum_duration = 10_000_000  # in seconds
+# last_report_at = perf_counter()
+
+
+def measure_average_performance(func: Callable[..., Any]) -> Callable[..., Any]:
+    """Report once every 5 minutes what the averages function duration is and what the max and min durations are."""
+
+    def wrapper(*args: Any, **kwargs: Any) -> Any:
+        global maximum_duration, minimum_duration, last_report_at
+        start_time = perf_counter()
+        value = func(*args, **kwargs)
+        end_time = perf_counter()
+        try:
+            run_time = end_time - start_time
+            if run_time > maximum_duration[func]:
+                maximum_duration[func] = run_time
+            if run_time < minimum_duration[func]:
+                minimum_duration[func] = run_time
+                list_of_durations[func].append(run_time)
+            list_of_durations[func].append(run_time)
+
+            now = perf_counter()
+            if now - last_report_at[func] > 1 * 60 * 5 and list_of_durations[func]:
+                average_duration = sum(list_of_durations[func]) / len(list_of_durations[func])
+                log.info("*" * 30)
+                log.info(f"Performance stats for {func.__name__}:")
+                log.info(f"Avarage duration: {average_duration * 1000} ms, Maximum duration: {maximum_duration[func] * 1000} ms, Minimal duration: {minimum_duration[func] * 1000} ms")
+                log.info("*" * 30)
+                list_of_durations[func].clear()
+                maximum_duration[func], minimum_duration[func] = 0, 10_000_000
+                last_report_at[func] = perf_counter()
+        except Exception:
+            pass
+        return value
+
+    return wrapper
+
+
+last_call_at = perf_counter()
+last_report_call_frequency_at = perf_counter()
+call_frequency_memory = defaultdict(list)
+
+
+def measure_call_frequency(func: Callable[..., Any]) -> Callable[..., Any]:
+    """Measure how often a given function is called."""
+
+    def wrapper(*args: Any, **kwargs: Any) -> Any:
+        global call_frequency_memory, last_call_at, last_report_call_frequency_at
+        start_time = perf_counter()
+        # time from last call
+        time_from_last_call = start_time - last_call_at
+        last_call_at = start_time
+        call_frequency_memory[func].append(time_from_last_call)
+        if start_time - last_report_call_frequency_at > 1 * 60 * 1 and call_frequency_memory[func]:
+            average_call_time = sum(call_frequency_memory[func]) / len(call_frequency_memory[func])
+            maximal_call_time = max(call_frequency_memory[func])
+            print("*" * 50)
+            print(f"Calls per second stats for {func.__name__}:")
+            print(f"Average calls per second (CPS): {1 / average_call_time}, Minimal CPS: {1 / maximal_call_time}")
+            print("*" * 50)
+            call_frequency_memory[func].clear()
+            last_report_call_frequency_at = start_time
+
+        value = func(*args, **kwargs)
+        return value
+
+    return wrapper
+
+
+def with_sql_exception_handling(func: Callable[..., Any]) -> Callable[..., Any]:
+    """Try sql operation command, catch exception and finally close the cursor and the connection."""
+    def wrapper(*args, **kwargs):
+        try:
+            result = func(*args, **kwargs)
+            return result
+        except Exception as e:
+            log.critical(f"Couldn't perform sql operation: {repr(e)}")
+            return None
+
+    return wrapper
+
+
+def trace_memory(func: Callable[..., Any]) -> Callable[..., Any]:
+    """Trace RAM usage."""
+    def wrapper(*args: Any, **kwargs: Any) -> Any:
+        tracemalloc.start()
+        value = func(*args, **kwargs)
+        snapshot = tracemalloc.take_snapshot()
+        top_stats = snapshot.statistics('lineno')
+        log.info("*" * 50)
+        log.info(f"TOP 10 RAM usage for {func.__name__}:")
+        for stat in top_stats[:10]:
+            log.info(stat)
+        log.info("*" * 50)
+        return value
+
+    return wrapper
diff --git a/Working with RAE/RAE Default App/src/api/ros/__init__.py b/Working with RAE/RAE Default App/src/api/ros/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/Working with RAE/RAE Default App/src/api/ros/ros2_manager.py b/Working with RAE/RAE Default App/src/api/ros/ros2_manager.py
new file mode 100644
index 0000000..6383b68
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/api/ros/ros2_manager.py	
@@ -0,0 +1,198 @@
+import logging as log
+import os
+import threading
+import rclpy
+import time
+import math
+import subprocess
+from time import sleep
+import signal
+
+from typing import Any, Callable, Dict, Type
+from rclpy.executors import Executor, MultiThreadedExecutor, SingleThreadedExecutor
+from rclpy.publisher import Publisher
+from rclpy.subscription import Subscription
+from rclpy.client import Client
+from rclpy.timer import Timer
+
+
+QOS_PROFILE = 10
+ROS2_NAMESPACE = '/rae'
+
+
+class ROS2Manager:
+    """
+    A class that manages ROS2 functionalities for a robot or a system. It includes initializing ROS2 context, 
+    creating and managing nodes, publishers, and subscribers. It also handles the startup and shutdown processes 
+    for ROS2.
+
+    Attributes:
+        ros_proc: Process for running ROS2 hardware-related commands.
+        _name (str): Name of the ROS2 node.
+        _context (rclpy.context.Context | None): The ROS2 context.
+        _node (rclpy.node.Node | None): The ROS2 node.
+        _publishers (dict[str, Publisher]): Dictionary of ROS2 publishers.
+        _subscribers (dict[str, Subscription]): Dictionary of ROS2 subscribers.
+
+    Methods:
+        get_node(): Returns the current ROS2 node.
+        start_hardware_process(): Starts the hardware process for ROS2.
+        start(): Initializes and starts the ROS2 node and executor.
+        stop_ros_process(): Stops the ROS2 hardware process.
+        stop(): Shuts down the ROS2 node and context.
+        create_publisher(topic_name, msg_type, qos_profile): Creates a publisher for a given topic.
+        publish(topic_name, msg): Publishes a message on a given topic.
+        create_subscriber(topic_name, msg_type, callback, qos_profile): Creates a subscriber for a given topic.
+    """
+    def __init__(self, name: str) -> None:
+        """
+        Initializes the ROS2Manager instance.
+
+        Args:
+            name (str): The name of the ROS2 node.
+        """
+
+        self.ros_proc = None
+        self._name = name
+        self._context: rclpy.context.Context | None = None
+        self._node: rclpy.node.Node | None = None
+        self._publishers: dict[str, Publisher] = {}
+        self._subscribers: dict[str, Subscription] = {}
+        self._service_clients: dict[str, Client] = {}
+        self._timers: dict[str, Timer] = {}
+
+    def get_node(self):
+        return self._node
+
+    def start_hardware_process(self):
+        """
+        Starts RAE hardware drivers in a separate process.
+        """
+        env = dict(os.environ)
+        self.ros_proc = subprocess.Popen(
+            "bash -c 'chmod +x /app/start_ros.sh ; /app/start_ros.sh'", shell=True, env=env, preexec_fn=os.setsid
+        )
+
+    def start(self) -> None:
+        """
+        Runs RAE hardware drivers process.Initializes and starts the ROS2 node and executor. It sets up the ROS2 context and starts the ROS2 spin.
+        """
+        self.start_hardware_process()
+        sleep(2)
+        self._context = rclpy.Context()
+        self._context.init()
+        log.info("ROS2 context initialized.")
+
+        self._node = rclpy.create_node(self._name, context=self._context, namespace=ROS2_NAMESPACE)
+        log.info(f"Created ROS2 node with name: {self._name}...")
+        self._executor = SingleThreadedExecutor(context=self._context)
+        self._executor.add_node(self._node)
+        self._executor_thread = threading.Thread(target=self._spin)
+        self._executor_thread.start()
+        log.info(f"Node started!")
+
+    def _spin(self):
+      log.info("rlcpy thread> Start")
+      try:
+          self._executor.spin()
+      except Exception as e:
+          log.info("rlcpy thread> failed")
+          log.error(e)
+      log.info("rlcpy thread> Done")
+
+    def stop_ros_process(self):
+        """
+        Stops the ROS2 hardware process by terminating the related subprocess.
+        """
+
+        if self.ros_proc is not None:
+            pgid = os.getpgid(self.ros_proc.pid)
+            os.killpg(pgid, signal.SIGTERM)
+
+    def stop(self) -> None:
+        """
+        Shuts down RAE drivers, ROS2 node and context. This includes stopping the executor, destroying publishers and subscribers,
+        and shutting down the ROS2 context.
+        """
+        self.stop_ros_process()
+        if not self._context:
+            log.info("ROS2 context is already stopped")
+            return
+
+        if self._executor_thread:
+            self._executor.shutdown()
+            self._executor_thread.join()
+            self._executor_thread = None
+
+        if self._node:
+            log.info("Destroying ROS2 node...")
+            self._destroy_publishers_and_subscribers()
+            self._node.destroy_node()
+            self._node = None
+
+        if self._context:
+            log.info("Shutting down ROS2 context...")
+            self._context.try_shutdown()
+            self._context.destroy()
+            self._context = None
+
+    def _destroy_publishers_and_subscribers(self):
+        for topic_name, publisher in self._publishers.items():
+            log.info(f"Destroying {topic_name} publisher...")
+            self._node.destroy_publisher(publisher)
+
+        for topic_name, subscriber in self._subscribers.items():
+            log.info(f"Destroying {topic_name} subscriber...")
+            self._node.destroy_subscription(subscriber)
+
+        self._publishers.clear()
+        self._subscribers.clear()
+
+    def create_publisher(self, topic_name: str, msg_type:Any, qos_profile: int = QOS_PROFILE) -> None:
+        if topic_name not in self._publishers:
+            if msg_type is not None:
+                log.info(f"Creating {topic_name} publisher")
+                self._publishers[topic_name] = self._node.create_publisher(msg_type, topic_name, qos_profile)
+            else:
+                log.warning(f"Unknown message type '{msg_typer}'")
+    
+    def create_service_client(self, srv_name: str, srv_type: Any) -> None:
+        if srv_name not in self._service_clients:
+            if srv_type is not None:
+                log.info(f"Creating {srv_name} service client")
+                self._service_clients[srv_name] = self._node.create_client(srv_type, srv_name)
+            else:
+                log.warning(f"Unknown service type '{srv_type}")
+    def call_async_srv(self, srv_name: str, req: Any) -> None:
+        log.info(f"Calling service {srv_name}")
+        future = self._service_clients[srv_name].call_async(req)
+        return future.result()
+
+    def publish(self, topic_name: str, msg: Any) -> None:
+        if topic_name in self._publishers:
+            publisher = self._publishers[topic_name]
+            publisher.publish(msg)
+        else:
+            log.warning(f"No publisher found for topic '{topic_name}'")
+
+    def create_subscriber(self, topic_name: str, msg_type: Any, callback=None, qos_profile: int = QOS_PROFILE) -> None:
+        if topic_name not in self._subscribers:
+            if msg_type is not None:
+                if callback is None:
+                    callback = self._default_callback
+
+                log.info(f"Creating {topic_name} subscriber")
+                self._subscribers[topic_name] = self._node.create_subscription(msg_type, topic_name, callback, qos_profile)
+            else:
+                log.warning(f"Unknown message type '{msg_type_str}'")
+
+    def _default_callback(self, msg) -> None:
+        log.info(f"[Default callback] Received message: {msg}")
+        
+    def create_timer(self, timer_name, period, callback) -> None:
+        if timer_name not in self._timers:
+            if callback is not None:
+                log.info(f"Creating {timer_name} timer")
+                self._timers[timer_name] = self._node.create_timer(period, callback)
+            else:
+                log.error(f"No callback function given for timer {timer_name}")    
diff --git a/Working with RAE/RAE Default App/src/follow_me.py b/Working with RAE/RAE Default App/src/follow_me.py
new file mode 100644
index 0000000..ff63ba6
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/follow_me.py	
@@ -0,0 +1,248 @@
+from time import sleep
+from dataclasses import dataclass, field
+from enum import Enum
+from typing import Optional, List, Tuple
+from datetime import datetime, timedelta
+
+import robothub
+import time
+import depthai as dai
+import os
+import signal
+
+from src.robot.robot import Robot
+from src.robot.perception.camera import Camera
+from src.robot.perception.detections import Detections, labelMap, create_detection_metadata
+from src.robot.perception.pipeline import build_pipeline
+from src.api.performance import measure_call_frequency
+from src.utilities.logging import Log
+
+EXPECTED_TARGET_WIDTH = 0.4
+WAIT_BEFORE_STARTING_TO_ROTATE = timedelta(seconds=2)
+FOLLOWED_OBJECT_TYPES = [labelMap.index("person")]
+RESOLUTION_WIDTH = 1280
+RESOLUTION_HEIGHT = 800
+FRONT_STREAM_NAME = "stream_front"
+REAR_STREAM_NAME = "stream_back"
+STREAM_NAMES = [FRONT_STREAM_NAME, REAR_STREAM_NAME]
+OTHER_DIRECTIONS = {FRONT_STREAM_NAME: REAR_STREAM_NAME,
+                    REAR_STREAM_NAME: FRONT_STREAM_NAME}
+
+
+class AppMode(Enum):
+    manual = "manual"
+    follow_me = "follow_me"
+
+
+class Application(robothub.RobotHubApplication):
+    def __init__(self):
+        super().__init__()
+        self.logger = Log()
+        self.robot = Robot(self.logger)
+        self.camera = Camera(self.logger)
+        self.available_apps = []
+        self.robot_status = None
+        self.latest_detections = {
+            FRONT_STREAM_NAME: Detections(), REAR_STREAM_NAME: Detections()}
+        self.mode = AppMode.manual
+        self.folow_me_direction = None
+        self.last_detection_timestamp = datetime.now()
+
+    def on_start(self):
+        if not robothub.DEVICES:
+            self.logger.error(
+                "The default app requires an assigned device to run. "
+                "Please go to RobotHub, navigate to the app's page, "
+                "click the \"Reassign devices\" button and select a device."
+            )
+            self._stop(1)
+
+        self.logger.info("Starting the app...")
+
+        self.logger.info("Starting Robot")
+        self.robot.start()
+        sleep(2)
+        self.logger.info("Starting robothub communicator...")
+        self.init_robothub_communicator()
+        sleep(2)
+        self.logger.info("Starting streams...")
+        self.init_streams()
+
+
+    def on_stop(self):
+        self.logger.info("Stopping the app...")
+        self.robot.stop()
+        self.camera.stop()
+
+    def init_robothub_communicator(self):
+        robothub.COMMUNICATOR.on_frontend(
+            notification=self.on_fe_notification, request=self.on_fe_request)
+
+    def init_streams(self):
+        pipeline = build_pipeline(
+            dai.CameraBoardSocket.CAM_B, FRONT_STREAM_NAME, dai.CameraBoardSocket.CAM_D, REAR_STREAM_NAME
+        )
+        self.camera.add_imu_ros_stream("imu")
+        for stream_name in STREAM_NAMES:
+            self.camera.add_rh_stream(stream_name)
+            self.camera.add_ros_stream(stream_name)
+
+        self.camera.start_pipeline(pipeline)
+        for stream_name in STREAM_NAMES:
+            self.camera.add_queue(f"{stream_name}", self.stream_callback_rh)
+            self.camera.add_queue(
+                f"{stream_name}_mjpeg", self.stream_callback_ros)
+            self.camera.add_queue(f"{stream_name}_nn",
+                                  self.control_callback_front)
+        self.camera.add_queue("imu", self.stream_callback_imu)
+
+    def stream_callback_rh(self, name: str, msg: dai.ImgFrame):
+        detections = self.latest_detections[name]
+        metadata = create_detection_metadata(
+            detections, RESOLUTION_WIDTH, RESOLUTION_HEIGHT)
+        color_frame = msg.getFrame()
+        timestamp = int(time.time() * 1_000)
+        self.camera.publish_rh(name, color_frame, timestamp, metadata)
+
+    def stream_callback_ros(self, name: str, msg: dai.ImgFrame):
+        self.camera.publish_ros(name, msg)
+        
+    def stream_callback_imu(self, name: str, msg: dai.IMUData):
+        self.camera.publish_ros(name, msg)
+
+    def on_fe_notification(self, session_id, unique_key, payload):
+        if unique_key == "cmd_vel" and self.mode == AppMode.manual:
+            self.robot.move(payload['linear'], payload['angular'])
+        elif unique_key == "app_install":
+            print("Received notification to app installation")
+        elif unique_key == "rae_control_horn":
+            self.robot.play_random_sfx()
+        else:
+            self.logger.info(f"Unique key: {unique_key}, payload: {payload}")
+
+    def on_fe_request(self, session_id, unique_key, payload):
+        if unique_key == "apps_get_list":
+            return self.available_apps
+        elif unique_key == "robot_status":
+            print("Received notification to load robot status")
+            if self.robot.get_battery() is None:
+                return None
+            return {
+                "downloadSpeed": None,
+                "diskTotal": None,
+                "diskUsage": None,
+                "batteryCapacity": self.robot.get_battery().capacity,
+                "mappingPaused": False,
+                "mappingRunning": False,
+            }
+        elif unique_key == "rae_control_leds":
+            self.robot.set_leds(payload)
+        elif unique_key == "rae_control_lcd":
+            self.robot.display_face(payload)
+        elif unique_key == "change_mode":
+            self.last_detection_timestamp = datetime.now()
+            self.folow_me_direction = None
+            try:
+                self.mode = AppMode[payload.get("mode")]
+                self.logger.info(f'Robot mode set to "{self.mode.value}"')
+            except KeyError:
+                self.logger.error(
+                    f"Unexpected mode \"{payload.get('mode')}\" was requested, ignoring")
+        else:
+            self.logger.info(f"Unique key: {unique_key}, payload: {payload}")
+
+    def store_available_apps(self, data):
+        self.available_apps = data["body"]["availableApps"]
+        print(self.available_apps)
+
+    def load_robot_info(self, data):
+        self.robot_status = data["body"]
+        print(self.robot_status)
+
+    @measure_call_frequency
+    def control_callback_front(self, name, msg):
+        self.control_callback(name, msg)
+
+    def control_callback_rear(self, name, msg):
+        self.control_callback(name, msg)
+
+    def control_callback(self, name, msg: dai.ImgDetections):
+        direction = name[:-3]
+        latest_detections = pick_detection(msg.detections)
+        self.latest_detections[direction] = latest_detections
+        if self.mode == AppMode.follow_me:
+            self.navigate_follow_me(direction)
+
+    def navigate_follow_me(self, detection_direction: str):
+        current_detections = self.latest_detections[detection_direction]
+
+        if not self.folow_me_direction and current_detections.target:
+            self.logger.info(
+                f'Spotted target in direction "{detection_direction}", following')
+            self.folow_me_direction = detection_direction
+
+        if self.folow_me_direction == detection_direction and not current_detections.target:
+            other_detections = self.latest_detections[detection_direction]
+            if other_detections.target:
+                self.logger.info(
+                    f'Lost target in direction "{self.folow_me_direction}", following in opposite direction')
+                self.folow_me_direction = other_detections(detection_direction)
+            else:
+                self.logger.info(
+                    f'Lost target in direction "{self.folow_me_direction}", searching for new target')
+                self.folow_me_direction = None
+                self.last_detection_timestamp = datetime.now()
+
+        velocity = None
+        if not self.folow_me_direction:
+            velocity = self.get_search_velocity()
+
+        if self.folow_me_direction == detection_direction and current_detections.target:
+            velocity = self.get_velocity_to_target(
+                current_detections.target, self.folow_me_direction)
+
+        if velocity:
+            angular_velocity, linear_velocity = velocity
+            self.robot.move(linear_velocity, angular_velocity)
+
+    def get_search_velocity(self) -> Tuple[float, float]:
+        linear_velocity = 0
+        angular_velocity = 0
+        if datetime.now() > self.last_detection_timestamp + WAIT_BEFORE_STARTING_TO_ROTATE:
+            linear_velocity = 0
+            angular_velocity = 1.5
+        return angular_velocity, linear_velocity
+
+    @staticmethod
+    def get_velocity_to_target(target_detection: dai.ImgDetection, direction: str) -> Tuple[float, float]:
+        multiplier = 1 if direction == FRONT_STREAM_NAME else -1
+        detection_xcenter = (target_detection.xmax + target_detection.xmin) / 2
+        detection_center_distance = 0.5 - detection_xcenter
+        angular_velocity = detection_center_distance * \
+            abs(detection_center_distance) * 50
+        detection_width = target_detection.xmax - target_detection.xmin
+        detection_width_difference = EXPECTED_TARGET_WIDTH - detection_width
+        linear_velocity = multiplier * detection_width_difference * \
+            abs(detection_width_difference) * 50
+        return angular_velocity, linear_velocity
+
+
+def other_direction(direction: str) -> Optional[str]:
+    return OTHER_DIRECTIONS.get(direction)
+
+
+def pick_detection(detections: List[dai.ImgDetection]) -> Detections:
+    closest_detection = None
+    closest_detection_size = -1
+    other_detections = []
+    for detection in detections:
+        detection_size = detection.xmax - detection.xmin
+        if detection.label in FOLLOWED_OBJECT_TYPES:
+            if detection_size > closest_detection_size:
+                other_detections.append(closest_detection)
+                closest_detection = detection
+                closest_detection_size = detection_size
+            else:
+                other_detections.append(detection)
+
+    return Detections(other=[detection for detection in other_detections if detection], target=closest_detection)
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diff --git a/Working with RAE/RAE Default App/src/robot/audio.py b/Working with RAE/RAE Default App/src/robot/audio.py
new file mode 100644
index 0000000..b66c639
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/robot/audio.py	
@@ -0,0 +1,27 @@
+import os
+import random
+
+from rae_msgs.srv import PlayAudio
+
+class AudioController:
+    def __init__(self, ros_manager):
+        self.ros_manager = ros_manager
+        self.audio_client = self.ros_manager.create_service_client('/play_audio', PlayAudio)
+        
+    def play_audio_file(self, audio_file_path):
+        req = PlayAudio.Request()
+        req.mp3_file = audio_file_path
+        res = self.ros_manager.call_async_srv('/play_audio', req)
+
+    def honk(self):
+        req = PlayAudio.Request()
+        req.mp3_file = '/app/src/robot/assets/sfx/horn.mp3'
+        res = self.ros_manager.call_async_srv('/play_audio', req)
+    def play_random_sfx(self):
+        req = PlayAudio.Request()
+        dir = '/app/src/robot/assets/sfx/voices/'
+        file = random.choice(os.listdir(dir))
+        file_path = dir+file
+        print(file_path)
+        req.mp3_file = file_path
+        res = self.ros_manager.call_async_srv('/play_audio', req)
\ No newline at end of file
diff --git a/Working with RAE/RAE Default App/src/robot/display.py b/Working with RAE/RAE Default App/src/robot/display.py
new file mode 100644
index 0000000..5c8f74d
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/robot/display.py	
@@ -0,0 +1,147 @@
+import cv2
+import numpy as np
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+
+def quaternion_to_rotation_matrix(q):
+    """
+    Convert a quaternion into a rotation matrix.
+
+    Parameters:
+    q (tuple): A quaternion represented as (q_w, q_x, q_y, q_z).
+
+    Returns:
+    numpy.ndarray: A 3x3 rotation matrix.
+    """
+    q_w, q_x, q_y, q_z = q
+    sq_w, sq_x, sq_y, sq_z = q_w ** 2, q_x ** 2, q_y ** 2, q_z ** 2
+
+    # Rotation matrix
+    rot_matrix = np.array([
+        [1 - 2 * sq_y - 2 * sq_z,     2 * q_x * q_y - 2 *
+            q_z * q_w,     2 * q_x * q_z + 2 * q_y * q_w],
+        [2 * q_x * q_y + 2 * q_z * q_w, 1 - 2 * sq_x -
+            2 * sq_z,     2 * q_y * q_z - 2 * q_x * q_w],
+        [2 * q_x * q_z - 2 * q_y * q_w, 2 * q_y *
+            q_z + 2 * q_x * q_w, 1 - 2 * sq_x - 2 * sq_y]
+    ])
+
+    return rot_matrix
+
+
+class DisplayController:
+    def __init__(self, ros_manager):
+        self.ros_manager = ros_manager
+        self.ros_manager.create_publisher('/lcd', Image)
+        self.bridge = CvBridge()
+        self.screen_width = 160
+        self.screen_height = 80
+
+    def stop(self):
+        self.display_default()
+
+    def display_default(self):
+        image = cv2.imread('/app/src/robot/assets/img/rae-logo-white.jpg')
+        bgra_image = cv2.cvtColor(image, cv2.COLOR_BGR2BGRA)
+        ros_image = self.bridge.cv2_to_imgmsg(bgra_image, encoding='bgra8')
+        self.ros_manager.publish('/lcd', ros_image)
+
+    def display_face(self, payload):
+        img_name = payload[1]['name']
+        image_path = f'/app/src/robot/assets/img/{img_name}.png'
+
+        image = cv2.imread(image_path, cv2.IMREAD_UNCHANGED)
+
+        def hex_to_rgb(hex):
+            value = hex.lstrip('#')
+            lv = len(value)
+            return tuple(int(value[i:i + lv // 3], 16) for i in range(0, lv, lv // 3))
+        r, g, b = hex_to_rgb(payload[0]['color'])
+
+        # Check if the image has an alpha channel
+
+        if image.shape[2] == 4:
+
+            # Split the image into its channels
+            b_channel, g_channel, r_channel, alpha_channel = cv2.split(image)
+            # Define the color to replace the transparent parts (purple in this case)
+            # OpenCV uses BGR format, so purple is (128, 0, 128)
+            replacement_color = [r, g, b]
+            # Find all pixels where the alpha channel is zero
+            transparent_mask = alpha_channel < 150
+            # Set the color of these pixels to the replacement color
+            image[transparent_mask] = replacement_color + \
+                [255]  # Add full opacity to the color
+            ros_image = self.bridge.cv2_to_imgmsg(image, encoding='bgra8')
+            self.ros_manager.publish('/lcd', ros_image)
+
+    def display_image(self, image_data):
+        ros_image = self.bridge.cv2_to_imgmsg(image_data, encoding='bgra8')
+        self.ros_manager.publish('/lcd', ros_image)
+
+    def display_imu_data(self, imu_data):
+        axis_length = 20
+
+        packets = imu_data.packets
+        for packet in packets:
+            rotation = packet.rotationVector
+            # Get rotation matrix
+            rotation_matrix = quaternion_to_rotation_matrix(
+                (rotation.i, rotation.j, rotation.k, rotation.real))
+
+            # Define 3D axes
+            axes = np.float32([[axis_length, 0, 0], [0, axis_length, 0], [
+                              0, 0, axis_length], [0, 0, 0]]).reshape(-1, 3)
+
+            # Project 3D points to 2D
+            focal_length = self.screen_width
+            camera_matrix = np.array([[focal_length, 0, self.screen_width / 2],
+                                      [0, focal_length, self.screen_height / 2],
+                                      [0, 0, 1]], dtype='double')
+            dist_coeffs = np.zeros((4, 1))  # Assuming no lens distortion
+            axes_2d, _ = cv2.projectPoints(
+                axes, rotation_matrix, np.zeros((3, 1)), camera_matrix, dist_coeffs)
+
+            # Create image and draw the axes
+            image = np.zeros(
+                (self.screen_height, self.screen_width, 3), dtype=np.uint8)
+            axes_2d = np.int32(axes_2d).reshape(-1, 2)
+            cv2.line(image, tuple(axes_2d[3]), tuple(
+                axes_2d[0]), (0, 0, 255), 3)  # X-axis in red
+            cv2.line(image, tuple(axes_2d[3]), tuple(
+                axes_2d[1]), (0, 255, 0), 3)  # Y-axis in green
+            cv2.line(image, tuple(axes_2d[3]), tuple(
+                axes_2d[2]), (255, 0, 0), 3)  # Z-axis in blue
+            bgra_image = cv2.cvtColor(image, cv2.COLOR_BGR2BGRA)
+            ros_image = self.bridge.cv2_to_imgmsg(bgra_image, encoding='bgra8')
+            self.ros_manager.publish('/lcd', ros_image)
+            
+    def display_animation(self):
+        # Ball properties
+        self.ball_size = 20
+        self.ball_color = (255, 0, 255)  # Red in BGR format
+
+        # Ball initial position and velocity
+        self.x, self.y = self.screen_width // 2, self.screen_height // 2
+        self.vx, self.vy = 2, 3  # Speed of the ball in x and y direction
+        self.ros_manager.create_timer('animation', 0.05, self.ball_callback)
+    def ball_callback(self):
+
+        image = np.zeros((self.screen_height, self.screen_width, 3), dtype=np.uint8)
+
+        # Draw the ball
+        cv2.circle(image, (self.x, self.y), self.ball_size // 2, self.ball_color, -1)
+
+        # Update the ball's position
+        self.x += self.vx
+        self.y += self.vy
+
+        # Bounce off the walls
+        if self.x <= self.ball_size // 2 or self.x >= self.screen_width - self.ball_size // 2:
+            self.vx = -self.vx
+        if self.y <= self.ball_size // 2 or self.y >= self.screen_height - self.ball_size // 2:
+            self.vy = -self.vy
+        bgra_image = cv2.cvtColor(image, cv2.COLOR_BGR2BGRA)
+        ros_image = self.bridge.cv2_to_imgmsg(bgra_image, encoding='bgra8')
+        self.ros_manager.publish('/lcd', ros_image)
diff --git a/Working with RAE/RAE Default App/src/robot/led.py b/Working with RAE/RAE Default App/src/robot/led.py
new file mode 100644
index 0000000..50fcd6a
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/robot/led.py	
@@ -0,0 +1,28 @@
+from rae_msgs.msg import LEDControl
+from std_msgs.msg import ColorRGBA
+class LEDController:
+    def __init__(self, ros_manager):
+        self.ros_manager = ros_manager
+        self.ros_manager.create_publisher("/leds", LEDControl)
+    def set_leds(self, payload):
+        def hex_to_rgb(hex):
+            value = hex.lstrip('#')
+            lv = len(value)
+            return tuple(int(value[i:i + lv // 3], 16) for i in range(0, lv, lv // 3))
+        def normalize(num):
+            if num == 0:
+                return float(num)
+            else:
+                return float(num)/255.0
+        led_msg = LEDControl()
+        
+        r,g,b = hex_to_rgb(payload['color'])
+
+        color_msg = ColorRGBA()
+        color_msg.a = 1.0
+        color_msg.r = normalize(r)
+        color_msg.g = normalize(g)
+        color_msg.b = normalize(b)
+        led_msg.data = [color_msg]
+        led_msg.control_type = led_msg.CTRL_TYPE_ALL
+        self.ros_manager.publish("/leds", led_msg)
\ No newline at end of file
diff --git a/Working with RAE/RAE Default App/src/robot/movement.py b/Working with RAE/RAE Default App/src/robot/movement.py
new file mode 100644
index 0000000..b6edd91
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/robot/movement.py	
@@ -0,0 +1,14 @@
+from geometry_msgs.msg import Twist
+class MovementController:
+    def __init__(self, ros_manager):
+        self.ros_manager = ros_manager
+        self.ros_manager.create_publisher("/cmd_vel", Twist)
+    def move(self, linear, angular):
+        twist_msg = Twist()
+        twist_msg.linear.x = float(linear)
+        twist_msg.linear.y = 0.0
+        twist_msg.linear.z = 0.0
+        twist_msg.angular.x = 0.0
+        twist_msg.angular.y = 0.0
+        twist_msg.angular.z = float(angular)
+        self.ros_manager.publish('/cmd_vel', twist_msg)
\ No newline at end of file
diff --git a/Working with RAE/RAE Default App/src/robot/perception/__init__.py b/Working with RAE/RAE Default App/src/robot/perception/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/Working with RAE/RAE Default App/src/robot/perception/camera.py b/Working with RAE/RAE Default App/src/robot/perception/camera.py
new file mode 100644
index 0000000..5263d62
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/robot/perception/camera.py	
@@ -0,0 +1,141 @@
+import depthai as dai
+import robothub
+
+
+class Camera:
+    """
+    A class for managing camera functionalities in a robot, interfacing with both depthai and robothub libraries.
+    It includes initialization and management of camera streams, publishing capabilities, and camera device control.
+
+    Attributes:
+        logger: Logger for logging messages and errors.
+        ros_context_manager (dai.ros.ROSContextManager): Manager for ROS context.
+        dai_node (dai.ros.ROSNode): ROS node for depthai operations.
+        device_mxid (str): The serial number of the depthai device.
+        device_info (dai.DeviceInfo): Information about the depthai device.
+        device (dai.Device): The depthai device instance.
+        cal_handler: Calibration handler for the depthai device.
+        pipeline: The pipeline for camera data processing.
+        rh_stream_handles (dict): Handles for RobotHub video streams.
+        ros_stream_handles (dict): Handles for ROS video streams.
+
+    Methods:
+        stop(): Closes the depthai device connection.
+        add_rh_stream(stream_name): Adds a RobotHub stream with the given name.
+        add_ros_stream(stream_name): Adds a ROS stream with the given name.
+        add_queue(name, callback): Adds a queue to the device for handling callbacks.
+        start_pipeline(pipeline): Starts the camera pipeline and initializes ROS node and context.
+        publish_rh(name, color_frame, timestamp, metadata): Publishes video data to RobotHub.
+        publish_ros(name, msg): Publishes a message to a ROS topic.
+    """
+    def __init__(self, logger):
+        """
+        Initializes the Camera instance.
+
+        Args:
+            logger: An instance used for logging messages and errors.
+        """
+
+        self.logger = logger
+        self.ros_context_manager = dai.ros.ROSContextManager()
+        self.ros_context_manager.init([""])
+        self.dai_node = dai.ros.ROSNode("dai", dai.ros.ROSNodeOptions(False))
+        self.device_mxid = robothub.DEVICES[0].oak["serialNumber"]
+        self.device_info = dai.DeviceInfo(self.device_mxid)
+        self.device = dai.Device(self.device_info)
+        self.cal_handler = self.device.readCalibration()
+
+        self.pipeline = None
+        self.rh_stream_handles = {}
+        self.ros_stream_handles = {}
+    def stop(self):
+        """
+        Closes the connection to the depthai device, ensuring a clean shutdown.
+        """
+
+        if self.device:
+            self.device.close()
+        
+    def add_rh_stream(self, stream_name):
+        """
+        Adds a video stream to RobotHub with the specified name.
+
+        Args:
+            stream_name (str): The name of the stream to be added.
+        """
+
+        self.rh_stream_handles[f"{stream_name}"] = robothub.STREAMS.create_video(
+            self.device_mxid, f"{stream_name}", f"{stream_name}"
+        )
+
+    def add_ros_stream(self, stream_name):
+        """
+        Adds a ROS video stream with the specified name and sets up the necessary configurations.
+
+        Args:
+            stream_name (str): The name of the ROS stream to be added.
+        """
+
+        self.ros_stream_handles[f"{stream_name}_mjpeg"] = dai.ros.ImgStreamer(self.dai_node, self.cal_handler, self.stream_name_to_socket(stream_name), stream_name, f"{stream_name}_frame", False, False)
+        self.ros_stream_handles[f"{stream_name}_mjpeg"].convertFromBitStream(dai.RawImgFrame.Type.BGR888i)
+    def add_imu_ros_stream(self, stream_name):
+        """
+        Adds a ROS IMU stream with the specified name and sets up the necessary configurations.
+
+        Args:
+            stream_name (str): The name of the ROS stream to be added.
+        """
+        self.ros_stream_handles[stream_name] = dai.ros.ImuStreamer(self.dai_node, stream_name, "imu_frame", dai.ros.ImuSyncMethod.COPY, 0.0, 0.0, 0.0, 0.0, True, False, False)
+
+
+    def add_queue(self, name, callback):
+        """
+        Adds a queue to the depthai device for processing callbacks.
+
+        Args:
+            name (str): The name of the queue.
+            callback (callable): The callback function to be added to the queue.
+        """
+
+        self.device.getOutputQueue(name, 1, False).addCallback(callback)
+        
+    def start_pipeline(self, pipeline):
+        """
+        Starts the camera pipeline, initializes the ROS node, and spins the ROS context manager.
+
+        Args:
+            pipeline: The pipeline configuration for the camera.
+        """
+
+        self.device.startPipeline(pipeline)
+        self.ros_context_manager.add_node(self.dai_node)
+        self.ros_context_manager.spin()
+        
+    def publish_rh(self, name, color_frame, timestamp, metadata):
+        """
+        Publishes video data to a RobotHub stream.
+
+        Args:
+            name (str): The name of the RobotHub stream.
+            color_frame: The color frame data to be published.
+            timestamp: The timestamp associated with the frame.
+            metadata: Additional metadata for the frame.
+        """
+        self.rh_stream_handles[name].publish_video_data(bytes(color_frame), timestamp, metadata)
+        
+    def publish_ros(self, name, msg):
+        """
+        Publishes a message to a ROS topic.
+
+        Args:
+            name (str): The name of the ROS topic.
+            msg: The message to be published.
+        """
+        self.ros_stream_handles[name].publish(name, msg)
+        
+    def stream_name_to_socket(self, stream_name):
+        if stream_name == 'stream_front':
+            return dai.CameraBoardSocket.CAM_C
+        elif stream_name == 'stream_back':
+            return dai.CameraBoardSocket.CAM_D
+        
\ No newline at end of file
diff --git a/Working with RAE/RAE Default App/src/robot/perception/detections.py b/Working with RAE/RAE Default App/src/robot/perception/detections.py
new file mode 100644
index 0000000..c9fd484
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/robot/perception/detections.py	
@@ -0,0 +1,141 @@
+from dataclasses import dataclass, field
+from typing import Optional, List, Tuple
+import depthai as dai
+labelMap = [
+            "person",
+            "bicycle",
+            "car",
+            "motorbike",
+            "aeroplane",
+            "bus",
+            "train",
+            "truck",
+            "boat",
+            "traffic light",
+            "fire hydrant",
+            "stop sign",
+            "parking meter",
+            "bench",
+            "bird",
+            "cat",
+            "dog",
+            "horse",
+            "sheep",
+            "cow",
+            "elephant",
+            "bear",
+            "zebra",
+            "giraffe",
+            "backpack",
+            "umbrella",
+            "handbag",
+            "tie",
+            "suitcase",
+            "frisbee",
+            "skis",
+            "snowboard",
+            "sports ball",
+            "kite",
+            "baseball bat",
+            "baseball glove",
+            "skateboard",
+            "surfboard",
+            "tennis racket",
+            "bottle",
+            "wine glass",
+            "cup",
+            "fork",
+            "knife",
+            "spoon",
+            "bowl",
+            "banana",
+            "apple",
+            "sandwich",
+            "orange",
+            "broccoli",
+            "carrot",
+            "hot dog",
+            "pizza",
+            "donut",
+            "cake",
+            "chair",
+            "sofa",
+            "pottedplant",
+            "bed",
+            "diningtable",
+            "toilet",
+            "tvmonitor",
+            "laptop",
+            "mouse",
+            "remote",
+            "keyboard",
+            "cell phone",
+            "microwave",
+            "oven",
+            "toaster",
+            "sink",
+            "refrigerator",
+            "book",
+            "clock",
+            "vase",
+            "scissors",
+            "teddy bear",
+            "hair drier",
+            "toothbrush",
+        ]
+@dataclass(frozen=True)
+class Detections:
+    target: Optional[dai.ImgDetection] = None
+    other: List[dai.ImgDetection] = field(default_factory=list)
+
+
+def create_detection_metadata(detections, width, height):
+    def build_detection_metadata(detection, color):
+        return {
+            "bbox": [
+                detection.xmin * width,
+                detection.ymin * height,
+                detection.xmax * width,
+                detection.ymax * height,
+            ],
+            "label": f"{labelMap[detection.label]} ({int(detection.confidence * 10000) / 100}%)",
+            "color": color,
+        }
+
+    
+    metadata = {
+        "platform": "robothub",
+        "frame_shape": [width, height],
+        "config": {
+            "output": {"img_scale": 1.0, "show_fps": True, "clickable": True},
+            "detection": {
+                "thickness": 1,
+                "fill_transparency": 0.05,
+                "box_roundness": 0,
+                "color": [0, 255, 255],
+                "bbox_style": 0,
+                "line_width": 0.5,
+                "line_height": 0.5,
+                "hide_label": False,
+                "label_position": 0,
+                "label_padding": 10,
+            },
+            "text": {
+                "font_color": [255, 255, 0],
+                "font_transparency": 0.5,
+                "font_scale": 1.0,
+                "font_thickness": 2,
+                "bg_transparency": 0.5,
+                "bg_color": [0, 0, 0],
+            },
+        },
+        "objects": [
+            {
+                "type": "detections",
+                "detections": [build_detection_metadata(detection, [0, 255, 255]) for detection in detections.other]
+                + ([build_detection_metadata(detections.target, [255, 0, 0])] if detections.target else []),
+            }
+        ],
+    }
+    return metadata
+        
diff --git a/Working with RAE/RAE Default App/src/robot/perception/pipeline.py b/Working with RAE/RAE Default App/src/robot/perception/pipeline.py
new file mode 100644
index 0000000..cde5aed
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/robot/perception/pipeline.py	
@@ -0,0 +1,73 @@
+from pathlib import Path
+
+import depthai as dai
+
+BLOB_PATH = Path("/app/yolov6n_416x416_openvino2022.1_vpux.blob")
+
+
+def build_pipeline(front_socket: dai.CameraBoardSocket, front_stream_name, rear_socket, rear_stream_name)-> dai.Pipeline:
+    pipeline = dai.Pipeline()
+    imu = pipeline.create(dai.node.IMU)
+    imu.enableIMUSensor(dai.IMUSensor.ACCELEROMETER_RAW, 400)
+    imu.enableIMUSensor(dai.IMUSensor.GYROSCOPE_RAW, 400)
+    imu.enableIMUSensor(dai.IMUSensor.ROTATION_VECTOR, 400)
+    imu.setBatchReportThreshold(1)
+    imu.setMaxBatchReports(10)
+    xout_imu = pipeline.create(dai.node.XLinkOut)
+    xout_imu.setStreamName("imu")
+    imu.out.link(xout_imu.input)
+
+    def add_side(socket: dai.CameraBoardSocket, stream_name):
+        rgb = pipeline.create(dai.node.ColorCamera)
+        rgb.setBoardSocket(socket)
+        rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
+        rgb.setInterleaved(False)
+        rgb.setPreviewSize(416, 416)
+        rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
+        rgb.setFps(8)  # Limitation of the current preview source at 416x416 resolution
+
+        h264_encoder = pipeline.create(dai.node.VideoEncoder)
+        h264_encoder.setDefaultProfilePreset(8, dai.VideoEncoderProperties.Profile.H264_MAIN)
+        h264_encoder.setQuality(50)
+        h264_encoder.setKeyframeFrequency(30)
+        h264_encoder.setBitrateKbps(1800)
+        h264_encoder.input.setQueueSize(1)
+        rgb.video.link(h264_encoder.input)
+
+        xout_color_h264 = pipeline.create(dai.node.XLinkOut)
+        xout_color_h264.setStreamName(f"{stream_name}")
+        xout_color_h264.input.setBlocking(False)
+        h264_encoder.bitstream.link(xout_color_h264.input)
+        
+        mjpeg_encoder = pipeline.create(dai.node.VideoEncoder)
+        mjpeg_encoder.setDefaultProfilePreset(8, dai.VideoEncoderProperties.Profile.MJPEG)
+        mjpeg_encoder.setQuality(50)
+        mjpeg_encoder.setKeyframeFrequency(30)
+        mjpeg_encoder.setBitrateKbps(1800)
+        mjpeg_encoder.input.setQueueSize(1)
+        rgb.video.link(mjpeg_encoder.input)
+
+        mjpeg_xout_color = pipeline.create(dai.node.XLinkOut)
+        mjpeg_xout_color.setStreamName(f"{stream_name}_mjpeg")
+        mjpeg_xout_color.input.setBlocking(False)
+        mjpeg_encoder.bitstream.link(mjpeg_xout_color.input)
+
+        detectionNetwork = pipeline.createYoloDetectionNetwork()
+        detectionNetwork.setConfidenceThreshold(0.6)
+        detectionNetwork.setNumClasses(80)
+        detectionNetwork.setCoordinateSize(4)
+        detectionNetwork.setIouThreshold(0.5)
+        detectionNetwork.setBlobPath(BLOB_PATH)
+        detectionNetwork.setNumInferenceThreads(8)
+        detectionNetwork.input.setBlocking(False)
+        detectionNetwork.input.setQueueSize(1)
+        rgb.preview.link(detectionNetwork.input)
+
+        xout_nn = pipeline.create(dai.node.XLinkOut)
+        xout_nn.input.setBlocking(False)
+        xout_nn.setStreamName(f"{stream_name}_nn")
+        detectionNetwork.out.link(xout_nn.input)
+
+    add_side(front_socket, front_stream_name)
+    add_side(rear_socket, rear_stream_name)
+    return pipeline
diff --git a/Working with RAE/RAE Default App/src/robot/robot.py b/Working with RAE/RAE Default App/src/robot/robot.py
new file mode 100644
index 0000000..beee95c
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/robot/robot.py	
@@ -0,0 +1,135 @@
+from typing import Optional, List, Tuple
+
+from src.api.ros.ros2_manager import ROS2Manager
+from src.robot.display import DisplayController
+from src.robot.led import LEDController
+from src.robot.movement import MovementController
+from src.robot.audio import AudioController
+from sensor_msgs.msg import BatteryState
+
+
+class Robot:
+    """
+    A class representing a robot, integrating various controllers for movement, display, and LED management,
+    and interfacing with ROS2 for communication and control.
+
+    Attributes:
+        logger: An instance used for logging messages and errors.
+        ros_manager (ROS2Manager): An object for managing ROS2 communications and functionalities.
+        battery_state (BatteryState): Stores the current state of the robot's battery.
+        led_controller (LEDController): Controls the robot's LEDs.
+        display_controller (DisplayController): Manages the robot's display.
+        movement_controller (MovementController): Handles the robot's movement.
+
+    Methods:
+        battery_state_cb(data): Callback method for updating battery state.
+        start(): Initializes the robot's components and starts ROS2 communications.
+        stop(): Stops the ROS2 communications and shuts down the robot's components.
+        move(velocity): Commands the robot to move at a specified velocity.
+        display_face(image_data): Displays an image on the robot's face.
+        set_leds(led_data): Sets the LED configuration on the robot.
+        get_battery(): Retrieves the current battery state.
+    """
+
+    def __init__(self, logger):
+        """
+        Initializes the Robot instance.
+
+        Args:
+            logger: An instance used for logging messages and errors.
+        """
+
+        self.logger = logger
+        self.ros_manager = None
+        self.battery_state = None
+        self.led_controller = None
+        self.display_controller = None
+        self.movement_controller = None
+        self.audio_controller = None
+
+    def battery_state_cb(self, data):
+        self.battery_state = data
+
+    def start(self):
+        """
+        Initializes and starts the robot's components and ROS2 communications.
+        Sets up necessary controllers and subscribers for the robot's functionalities.
+        """
+        self.ros_manager = ROS2Manager("base_container")
+        self.ros_manager.start()
+        self.led_controller = LEDController(self.ros_manager)
+        self.display_controller = DisplayController(self.ros_manager)
+        self.movement_controller = MovementController(self.ros_manager)
+        self.audio_controller = AudioController(self.ros_manager)
+        self.ros_manager.create_subscriber(
+            "/battery_status", BatteryState, self.battery_state_cb)
+
+    def stop(self):
+        """
+        Stops the ROS2 communications and deactivates the robot's controllers.
+        Ensures a clean shutdown of all components.
+        """
+        self.display_controller.stop()
+        self.ros_manager.stop()
+
+    def move(self, linear, angular):
+        """
+        Commands the robot to move at the specified velocity.
+
+        Args:
+            linear: Linear velocity.
+            angular: Angular velocity.
+        """
+        self.movement_controller.move(linear, angular)
+
+    def display_face(self, payload):
+        """
+        Displays face based on given payload.
+
+        Args:
+            payload: Data representing the image to be displayed.
+        """
+
+        self.display_controller.display_face(payload)
+
+    def display_image(self, image):
+        """
+        Displays given image in OpenCV format
+
+        Args:
+            image: An OpenCV mat
+        """
+        self.display_controller.display_image(image)
+
+    def display_imu_data(self, imu_data):
+        """
+        Displays IMU data as 3D axes
+
+        Args:
+            imu_data: dai.IMUData
+        """
+        self.display_controller.display_imu_data(imu_data)
+
+    def set_leds(self, led_data):
+        """
+        Sets the robot's LEDs based on the provided LED configuration.
+
+        Args:
+            led_data: Data or instructions to set the LED configuration.
+        """
+        self.led_controller.set_leds(led_data)
+
+    def get_battery(self):
+        """
+        Retrieves the current state of the robot's battery.
+
+        Returns:
+            BatteryState: The current state of the battery.
+        """
+        return self.battery_state
+    def honk(self):
+        self.audio_controller.honk()
+    def display_animation(self):
+        self.display_controller.display_animation()
+    def play_random_sfx(self):
+        self.audio_controller.play_random_sfx()
\ No newline at end of file
diff --git a/Working with RAE/RAE Default App/src/utilities/__init__.py b/Working with RAE/RAE Default App/src/utilities/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/Working with RAE/RAE Default App/src/utilities/logging.py b/Working with RAE/RAE Default App/src/utilities/logging.py
new file mode 100644
index 0000000..ba433be
--- /dev/null
+++ b/Working with RAE/RAE Default App/src/utilities/logging.py	
@@ -0,0 +1,14 @@
+import logging
+
+class Log:
+    def __init__(self):
+        self.logger = logging.getLogger(__name__)
+        self.handler = logging.FileHandler("./logs/app.log")
+        self.formatter = logging.Formatter("%(asctime)s %(name)s %(levelname)s: %(message)s")
+        self.handler.setFormatter(self.formatter)
+        self.logger.addHandler(self.handler)
+    
+    def info(self, msg: str):
+        self.logger.info(msg)
+    def error(self, msg: str):
+        self.logger.error(msg)
\ No newline at end of file
diff --git a/Working with RAE/RAE Default App/start_ros.sh b/Working with RAE/RAE Default App/start_ros.sh
new file mode 100644
index 0000000..57d583d
--- /dev/null
+++ b/Working with RAE/RAE Default App/start_ros.sh	
@@ -0,0 +1,9 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/ws/install/setup.bash"
+
+export ROS_DOMAIN_ID=30 # setup domain id
+ros2 launch rae_hw control.launch.py enable_battery_status:=false # spustil launch
diff --git a/Working with RAE/RAE Default App/tsconfig.json b/Working with RAE/RAE Default App/tsconfig.json
new file mode 100644
index 0000000..e9d3985
--- /dev/null
+++ b/Working with RAE/RAE Default App/tsconfig.json	
@@ -0,0 +1,3 @@
+{
+    "extends": "./frontend-src/tsconfig.json",
+}
diff --git a/Working with RAE/RAE Default App/yolov6n_416x416_openvino2022.1_vpux.blob b/Working with RAE/RAE Default App/yolov6n_416x416_openvino2022.1_vpux.blob
new file mode 100644
index 0000000..fa4d9f5
Binary files /dev/null and b/Working with RAE/RAE Default App/yolov6n_416x416_openvino2022.1_vpux.blob differ
diff --git a/Working with ROS/README.md b/Working with ROS/README.md
new file mode 100644
index 0000000..ecd4933
--- /dev/null
+++ b/Working with ROS/README.md	
@@ -0,0 +1,14 @@
+# Working with ROS
+
+This application demonstrates how to set up ROS working environment.
+
+## Setup
+
+Application should use Docker image that has ROS preinstalled (or installs it as specified in custom Dockerfile). This can be for example one of the official ROS images.
+To enable visibility of ROS system libraries while running the App, you can update `pre_launch` configuration in `robotapp.toml` in following way:
+`pre_launch = "export ROS_DOMAIN_ID=30\n. /opt/ros/$ROS_DISTRO/setup.sh\n. /ws/install/setup.sh"`
+- `export ROS_DOMAIN_ID=30` - setting up correct ROS domaind ID when running
+- `. /opt/ros/$ROS_DISTRO/setup.sh` - sourcing main ROS install
+- `. /ws/install/setup.sh` - sourcing custom ROS package
+
+In the App itself you can either create your own Python nodes via rclpy, or launch other nodes, for example via using separate bash script.
\ No newline at end of file
diff --git a/Working with ROS/app.py b/Working with ROS/app.py
new file mode 100644
index 0000000..916b116
--- /dev/null
+++ b/Working with ROS/app.py	
@@ -0,0 +1,19 @@
+import os
+import signal
+import subprocess
+from robothub import BaseApplication
+
+class Application(BaseApplication):
+    def __init__(self):
+        super().__init__()
+        self.ros_proc = None
+    def on_start(self):
+        env = dict(os.environ)
+        self.ros_proc = subprocess.Popen(
+            "bash -c 'chmod +x /app/start_ros.sh ; /app/start_ros.sh'", shell=True, env=env, preexec_fn=os.setsid
+        )
+    def on_stop(self):
+        if self.ros_proc is not None:
+            pgid = os.getpgid(self.ros_proc.pid)
+            os.killpg(pgid, signal.SIGTERM)
+    
\ No newline at end of file
diff --git a/Working with ROS/robotapp.toml b/Working with ROS/robotapp.toml
new file mode 100644
index 0000000..33530e5
--- /dev/null
+++ b/Working with ROS/robotapp.toml	
@@ -0,0 +1,19 @@
+config_version = "2.0"
+configuration = []
+
+[info]
+name = "ROS App"
+description = "ROS App environment"
+
+[runtime]
+application = "app.py#Application"
+workdir = "/app"
+pre_launch = "export ROS_DOMAIN_ID=30\n. /opt/ros/$ROS_DISTRO/setup.sh\n. /ws/install/setup.sh"
+
+
+[runtime.frontend]
+redirectToIndex = true
+
+[runtime.runs_on]
+type = "image"
+name = "ros:humble-ros-base"
diff --git a/Working with ROS/start_ros.sh b/Working with ROS/start_ros.sh
new file mode 100644
index 0000000..4f05856
--- /dev/null
+++ b/Working with ROS/start_ros.sh	
@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+
+# setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/ws/install/setup.bash"
+
+export ROS_DOMAIN_ID=30 # setup domain id
+# Add your custom launch file here 
+# ros2 launch demo_nodes_cpp talker_listener.launch.py 
\ No newline at end of file