Jan Henrik Lenes comments

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                                            Jan Henrik Lenes

keep getting catkin cannot build a non-homogeneous workspace without isolation after running CMake(onROS noetic)

I think this is because you have cartographer in your workspace. As I say [here](https://github.com/jhlenes/complete_coverage#installation), I recommend building cartographer in its own workspace, and then overlaying the workspace containing the...

otter_control

The ```usv_msgs``` package is located in the [complete_coverage](https://github.com/jhlenes/complete_coverage) project. If you install that project in your same ROS workspace it should work. Alternatively, you can copy only the ```usv_msgs``` package...