diff --git a/package-lock.json b/package-lock.json
index de60e63f..edc7f952 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,12 +1,12 @@
 {
     "name": "vscode-ros",
-    "version": "0.9.5",
+    "version": "0.9.6",
     "lockfileVersion": 2,
     "requires": true,
     "packages": {
         "": {
             "name": "vscode-ros",
-            "version": "0.9.5",
+            "version": "0.9.6",
             "license": "SEE LICENSE IN LICENSE",
             "dependencies": {
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@@ -36,6 +36,7 @@
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                 "tmp": "^0.2.1",
                 "tslib": "^2.5.0",
+                "vsce": "^2.15.0",
                 "xmlrpc": "^1.3.2"
             },
             "devDependencies": {
@@ -1020,6 +1021,15 @@
                 "url": "https://github.com/sponsors/ljharb"
             }
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+        "node_modules/azure-devops-node-api": {
+            "version": "11.2.0",
+            "resolved": "https://registry.npmjs.org/azure-devops-node-api/-/azure-devops-node-api-11.2.0.tgz",
+            "integrity": "sha512-XdiGPhrpaT5J8wdERRKs5g8E0Zy1pvOYTli7z9E8nmOn3YGp4FhtjhrOyFmX/8veWCwdI69mCHKJw6l+4J/bHA==",
+            "dependencies": {
+                "tunnel": "0.0.6",
+                "typed-rest-client": "^1.8.4"
+            }
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             "resolved": "https://registry.npmjs.org/babylonjs/-/babylonjs-5.57.1.tgz",
@@ -1127,6 +1137,39 @@
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+            "version": "4.1.0",
+            "resolved": "https://registry.npmjs.org/bl/-/bl-4.1.0.tgz",
+            "integrity": "sha512-1W07cM9gS6DcLperZfFSj+bWLtaPGSOHWhPiGzXmvVJbRLdG82sH/Kn8EtW1VqWVA54AKf2h5k5BbnIbwF3h6w==",
+            "dependencies": {
+                "buffer": "^5.5.0",
+                "inherits": "^2.0.4",
+                "readable-stream": "^3.4.0"
+            }
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+            "resolved": "https://registry.npmjs.org/buffer/-/buffer-5.7.1.tgz",
+            "integrity": "sha512-EHcyIPBQ4BSGlvjB16k5KgAJ27CIsHY/2JBmCRReo48y9rQ3MaUzWX3KVlBa4U7MyX02HdVj0K7C3WaB3ju7FQ==",
+            "funding": [
+                {
+                    "type": "github",
+                    "url": "https://github.com/sponsors/feross"
+                },
+                {
+                    "type": "patreon",
+                    "url": "https://www.patreon.com/feross"
+                },
+                {
+                    "type": "consulting",
+                    "url": "https://feross.org/support"
+                }
+            ],
+            "dependencies": {
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+                "ieee754": "^1.1.13"
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@@ -1138,6 +1181,11 @@
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+        "node_modules/boolbase": {
+            "version": "1.0.0",
+            "resolved": "https://registry.npmjs.org/boolbase/-/boolbase-1.0.0.tgz",
+            "integrity": "sha512-JZOSA7Mo9sNGB8+UjSgzdLtokWAky1zbztM3WRLCbZ70/3cTANmQmOdR7y2g+J0e2WXywy1yS468tY+IruqEww=="
+        },
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@@ -1279,6 +1327,14 @@
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+        "node_modules/buffer-crc32": {
+            "version": "0.2.13",
+            "resolved": "https://registry.npmjs.org/buffer-crc32/-/buffer-crc32-0.2.13.tgz",
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+            "engines": {
+                "node": "*"
+            }
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@@ -1400,6 +1456,42 @@
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+            "version": "1.0.0-rc.12",
+            "resolved": "https://registry.npmjs.org/cheerio/-/cheerio-1.0.0-rc.12.tgz",
+            "integrity": "sha512-VqR8m68vM46BNnuZ5NtnGBKIE/DfN0cRIzg9n40EIq9NOv90ayxLBXA8fXC5gquFRGJSTRqBq25Jt2ECLR431Q==",
+            "dependencies": {
+                "cheerio-select": "^2.1.0",
+                "dom-serializer": "^2.0.0",
+                "domhandler": "^5.0.3",
+                "domutils": "^3.0.1",
+                "htmlparser2": "^8.0.1",
+                "parse5": "^7.0.0",
+                "parse5-htmlparser2-tree-adapter": "^7.0.0"
+            },
+            "engines": {
+                "node": ">= 6"
+            },
+            "funding": {
+                "url": "https://github.com/cheeriojs/cheerio?sponsor=1"
+            }
+        },
+        "node_modules/cheerio-select": {
+            "version": "2.1.0",
+            "resolved": "https://registry.npmjs.org/cheerio-select/-/cheerio-select-2.1.0.tgz",
+            "integrity": "sha512-9v9kG0LvzrlcungtnJtpGNxY+fzECQKhK4EGJX2vByejiMX84MFNQw4UxPJl3bFbTMw+Dfs37XaIkCwTZfLh4g==",
+            "dependencies": {
+                "boolbase": "^1.0.0",
+                "css-select": "^5.1.0",
+                "css-what": "^6.1.0",
+                "domelementtype": "^2.3.0",
+                "domhandler": "^5.0.3",
+                "domutils": "^3.0.1"
+            },
+            "funding": {
+                "url": "https://github.com/sponsors/fb55"
+            }
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@@ -1427,6 +1519,11 @@
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+        "node_modules/chownr": {
+            "version": "1.1.4",
+            "resolved": "https://registry.npmjs.org/chownr/-/chownr-1.1.4.tgz",
+            "integrity": "sha512-jJ0bqzaylmJtVnNgzTeSOs8DPavpbYgEr/b0YL8/2GO3xJEhInFmhKMUnEJQjZumK7KXGFhUy89PrsJWlakBVg=="
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         "node_modules/chrome-trace-event": {
             "version": "1.0.3",
             "resolved": "https://registry.npmjs.org/chrome-trace-event/-/chrome-trace-event-1.0.3.tgz",
@@ -1618,6 +1715,32 @@
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+        "node_modules/css-select": {
+            "version": "5.1.0",
+            "resolved": "https://registry.npmjs.org/css-select/-/css-select-5.1.0.tgz",
+            "integrity": "sha512-nwoRF1rvRRnnCqqY7updORDsuqKzqYJ28+oSMaJMMgOauh3fvwHqMS7EZpIPqK8GL+g9mKxF1vP/ZjSeNjEVHg==",
+            "dependencies": {
+                "boolbase": "^1.0.0",
+                "css-what": "^6.1.0",
+                "domhandler": "^5.0.2",
+                "domutils": "^3.0.1",
+                "nth-check": "^2.0.1"
+            },
+            "funding": {
+                "url": "https://github.com/sponsors/fb55"
+            }
+        },
+        "node_modules/css-what": {
+            "version": "6.1.0",
+            "resolved": "https://registry.npmjs.org/css-what/-/css-what-6.1.0.tgz",
+            "integrity": "sha512-HTUrgRJ7r4dsZKU6GjmpfRK1O76h97Z8MfS1G0FozR+oF2kG6Vfe8JE6zwrkbxigziPHinCJ+gCPjA9EaBDtRw==",
+            "engines": {
+                "node": ">= 6"
+            },
+            "funding": {
+                "url": "https://github.com/sponsors/fb55"
+            }
+        },
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@@ -1690,6 +1813,28 @@
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+        "node_modules/decompress-response": {
+            "version": "6.0.0",
+            "resolved": "https://registry.npmjs.org/decompress-response/-/decompress-response-6.0.0.tgz",
+            "integrity": "sha512-aW35yZM6Bb/4oJlZncMH2LCoZtJXTRxES17vE3hoRiowU2kWHaJKFkSBDnDR+cm9J+9QhXmREyIfv0pji9ejCQ==",
+            "dependencies": {
+                "mimic-response": "^3.1.0"
+            },
+            "engines": {
+                "node": ">=10"
+            },
+            "funding": {
+                "url": "https://github.com/sponsors/sindresorhus"
+            }
+        },
+        "node_modules/deep-extend": {
+            "version": "0.6.0",
+            "resolved": "https://registry.npmjs.org/deep-extend/-/deep-extend-0.6.0.tgz",
+            "integrity": "sha512-LOHxIOaPYdHlJRtCQfDIVZtfw/ufM8+rVj649RIHzcm/vGwQRXFt6OPqIFWsm2XEMrNIEtWR64sY1LEKD2vAOA==",
+            "engines": {
+                "node": ">=4.0.0"
+            }
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             "resolved": "https://registry.npmjs.org/deep-is/-/deep-is-0.1.4.tgz",
@@ -1727,6 +1872,14 @@
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+            "version": "2.0.2",
+            "resolved": "https://registry.npmjs.org/detect-libc/-/detect-libc-2.0.2.tgz",
+            "integrity": "sha512-UX6sGumvvqSaXgdKGUsgZWqcUyIXZ/vZTrlRT/iobiKhGL0zL4d3osHj3uqllWJK+i+sixDS/3COVEOFbupFyw==",
+            "engines": {
+                "node": ">=8"
+            }
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             "resolved": "https://registry.npmjs.org/diff/-/diff-5.0.0.tgz",
@@ -1751,6 +1904,19 @@
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+        "node_modules/dom-serializer": {
+            "version": "2.0.0",
+            "resolved": "https://registry.npmjs.org/dom-serializer/-/dom-serializer-2.0.0.tgz",
+            "integrity": "sha512-wIkAryiqt/nV5EQKqQpo3SToSOV9J0DnbJqwK7Wv/Trc92zIAYZ4FlMu+JPFW1DfGFt81ZTCGgDEabffXeLyJg==",
+            "dependencies": {
+                "domelementtype": "^2.3.0",
+                "domhandler": "^5.0.2",
+                "entities": "^4.2.0"
+            },
+            "funding": {
+                "url": "https://github.com/cheeriojs/dom-serializer?sponsor=1"
+            }
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         "node_modules/domain-browser": {
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             "resolved": "https://registry.npmjs.org/domain-browser/-/domain-browser-4.22.0.tgz",
@@ -1762,6 +1928,17 @@
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+        "node_modules/domelementtype": {
+            "version": "2.3.0",
+            "resolved": "https://registry.npmjs.org/domelementtype/-/domelementtype-2.3.0.tgz",
+            "integrity": "sha512-OLETBj6w0OsagBwdXnPdN0cnMfF9opN69co+7ZrbfPGrdpPVNBUj02spi6B1N7wChLQiPn4CSH/zJvXw56gmHw==",
+            "funding": [
+                {
+                    "type": "github",
+                    "url": "https://github.com/sponsors/fb55"
+                }
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@@ -1773,6 +1950,33 @@
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+        "node_modules/domhandler": {
+            "version": "5.0.3",
+            "resolved": "https://registry.npmjs.org/domhandler/-/domhandler-5.0.3.tgz",
+            "integrity": "sha512-cgwlv/1iFQiFnU96XXgROh8xTeetsnJiDsTc7TYCLFd9+/WNkIqPTxiM/8pSd8VIrhXGTf1Ny1q1hquVqDJB5w==",
+            "dependencies": {
+                "domelementtype": "^2.3.0"
+            },
+            "engines": {
+                "node": ">= 4"
+            },
+            "funding": {
+                "url": "https://github.com/fb55/domhandler?sponsor=1"
+            }
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+        "node_modules/domutils": {
+            "version": "3.1.0",
+            "resolved": "https://registry.npmjs.org/domutils/-/domutils-3.1.0.tgz",
+            "integrity": "sha512-H78uMmQtI2AhgDJjWeQmHwJJ2bLPD3GMmO7Zja/ZZh84wkm+4ut+IUnUdRa8uCGX88DiVx1j6FRe1XfxEgjEZA==",
+            "dependencies": {
+                "dom-serializer": "^2.0.0",
+                "domelementtype": "^2.3.0",
+                "domhandler": "^5.0.3"
+            },
+            "funding": {
+                "url": "https://github.com/fb55/domutils?sponsor=1"
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@@ -1851,6 +2055,14 @@
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+            "resolved": "https://registry.npmjs.org/end-of-stream/-/end-of-stream-1.4.4.tgz",
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+            "version": "2.0.3",
+            "resolved": "https://registry.npmjs.org/expand-template/-/expand-template-2.0.3.tgz",
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+            "engines": {
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@@ -2113,6 +2333,14 @@
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+            "resolved": "https://registry.npmjs.org/fd-slicer/-/fd-slicer-1.1.0.tgz",
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@@ -2170,6 +2398,11 @@
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+            "resolved": "https://registry.npmjs.org/fs-constants/-/fs-constants-1.0.0.tgz",
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@@ -2325,6 +2558,11 @@
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@@ -2471,6 +2709,17 @@
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@@ -2482,6 +2731,24 @@
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+            "funding": [
+                "https://github.com/fb55/htmlparser2?sponsor=1",
+                {
+                    "type": "github",
+                    "url": "https://github.com/sponsors/fb55"
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+            "resolved": "https://registry.npmjs.org/ini/-/ini-1.3.8.tgz",
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@@ -3114,6 +3386,16 @@
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+            "dependencies": {
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         "yallist": {
             "version": "4.0.0",
             "resolved": "https://registry.npmjs.org/yallist/-/yallist-4.0.0.tgz",
-            "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A==",
-            "dev": true
+            "integrity": "sha512-3wdGidZyq5PB084XLES5TpOSRA3wjXAlIWMhum2kRcv/41Sn2emQ0dycQW4uZXLejwKvg6EsvbdlVL+FYEct7A=="
         },
         "yargs": {
             "version": "16.2.0",
@@ -9463,6 +10816,23 @@
                 "is-plain-obj": "^2.1.0"
             }
         },
+        "yauzl": {
+            "version": "2.10.0",
+            "resolved": "https://registry.npmjs.org/yauzl/-/yauzl-2.10.0.tgz",
+            "integrity": "sha512-p4a9I6X6nu6IhoGmBqAcbJy1mlC4j27vEPZX9F4L4/vZT3Lyq1VkFHw/V/PUcB9Buo+DG3iHkT0x3Qya58zc3g==",
+            "requires": {
+                "buffer-crc32": "~0.2.3",
+                "fd-slicer": "~1.1.0"
+            }
+        },
+        "yazl": {
+            "version": "2.5.1",
+            "resolved": "https://registry.npmjs.org/yazl/-/yazl-2.5.1.tgz",
+            "integrity": "sha512-phENi2PLiHnHb6QBVot+dJnaAZ0xosj7p3fWl+znIjBDlnMI2PsZCJZ306BPTFOaHf5qdDEI8x5qFrSOBN5vrw==",
+            "requires": {
+                "buffer-crc32": "~0.2.3"
+            }
+        },
         "yocto-queue": {
             "version": "0.1.0",
             "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz",
diff --git a/package.json b/package.json
index 27125e44..74229544 100644
--- a/package.json
+++ b/package.json
@@ -483,6 +483,7 @@
         "timers-browserify": "^2.0.12",
         "tmp": "^0.2.1",
         "tslib": "^2.5.0",
+        "vsce": "^2.15.0",
         "xmlrpc": "^1.3.2"
     },
     "devDependencies": {
diff --git a/src/build-tool/build-tool.ts b/src/build-tool/build-tool.ts
index fdb18afa..e4b322c7 100644
--- a/src/build-tool/build-tool.ts
+++ b/src/build-tool/build-tool.ts
@@ -96,15 +96,12 @@ BuildTool.current = new NotImplementedBuildTool();
 export async function determineBuildTool(dir: string): Promise<boolean> {
     while (dir && path.dirname(dir) !== dir) {
         if (await CatkinMakeBuildTool.isApplicable(dir)) {
-            extension.setBaseDir(dir);
             BuildTool.current = new CatkinMakeBuildTool();
             return true;
         } else if (await CatkinToolsBuildTool.isApplicable(dir)) {
-            extension.setBaseDir(dir);
             BuildTool.current = new CatkinToolsBuildTool();
             return true;
         } else if (await ColconBuildTool.isApplicable(dir)) {
-            extension.setBaseDir(dir);
             BuildTool.current = new ColconBuildTool();
             return true;
         }
diff --git a/src/build-tool/catkin-tools.ts b/src/build-tool/catkin-tools.ts
index 9cea0365..35a80919 100644
--- a/src/build-tool/catkin-tools.ts
+++ b/src/build-tool/catkin-tools.ts
@@ -8,7 +8,7 @@ import * as common from "./common";
 import * as rosShell from "./ros-shell";
 
 function makeCatkin(command: string, args: string[], category?: string): vscode.Task {
-    const task = rosShell.make({type: command, command, args: ['--workspace', extension.baseDir, ...args]}, category)
+    const task = rosShell.make({type: command, command, args: ['--workspace', vscode.workspace.rootPath, ...args]}, category)
     task.problemMatchers = ["$catkin-gcc"];
 
     return task;
diff --git a/src/build-tool/catkin.ts b/src/build-tool/catkin.ts
index 05d90116..5a06c523 100644
--- a/src/build-tool/catkin.ts
+++ b/src/build-tool/catkin.ts
@@ -8,7 +8,7 @@ import * as common from "./common";
 import * as rosShell from "./ros-shell";
 
 function makeCatkin(command: string, args: string[], category?: string): vscode.Task {
-    const task = rosShell.make({type: command, command, args: ['--directory', extension.baseDir, '-DCMAKE_BUILD_TYPE=RelWithDebInfo',...args]}, category)
+    const task = rosShell.make({type: command, command, args: ['--directory', vscode.workspace.rootPath, '-DCMAKE_BUILD_TYPE=RelWithDebInfo',...args]}, category)
     task.problemMatchers = ["$catkin-gcc"];
 
     return task;
diff --git a/src/build-tool/colcon.ts b/src/build-tool/colcon.ts
index dfc34e74..3a7dd6b1 100644
--- a/src/build-tool/colcon.ts
+++ b/src/build-tool/colcon.ts
@@ -18,7 +18,7 @@ function makeColcon(command: string, verb: string, args: string[], category?: st
         installType = '--merge-install';
     }
 
-        const task = rosShell.make({type: command, command, args: [verb, installType, '--event-handlers', 'console_cohesion+', '--base-paths', extension.baseDir, `--cmake-args`, `-DCMAKE_BUILD_TYPE=RelWithDebInfo`,...args]},
+        const task = rosShell.make({type: command, command, args: [verb, installType, '--event-handlers', 'console_cohesion+', '--base-paths', vscode.workspace.rootPath, `--cmake-args`, `-DCMAKE_BUILD_TYPE=RelWithDebInfo`,...args]},
                                category)
     task.problemMatchers = ["$catkin-gcc"];
 
diff --git a/src/build-tool/common.ts b/src/build-tool/common.ts
index ea8cacd9..ed2cb3b8 100644
--- a/src/build-tool/common.ts
+++ b/src/build-tool/common.ts
@@ -28,7 +28,7 @@ export async function _createPackage(createPkgCommand: (dependencies: string, na
         return;
     }
 
-    const cwd = typeof uri !== "undefined" ? uri.fsPath : `${extension.baseDir}/src`;
+    const cwd = typeof uri !== "undefined" ? uri.fsPath : `${vscode.workspace.rootPath}/src`;
     const opts = { cwd, env: extension.env };
 
     child_process.exec(createPkgCommand(dependencies, name), opts, (err, stdout, stderr) => {
diff --git a/src/debugger/configuration/resolvers/attach.ts b/src/debugger/configuration/resolvers/attach.ts
index dc1fb3ec..be83e098 100644
--- a/src/debugger/configuration/resolvers/attach.ts
+++ b/src/debugger/configuration/resolvers/attach.ts
@@ -88,7 +88,7 @@ export class AttachResolver implements vscode.DebugConfigurationProvider {
             try {
                 if (os.platform() === "win32") {
                     const processOptions: child_process.ExecOptions = {
-                        cwd: extension.baseDir,
+                        cwd: vscode.workspace.rootPath,
                         env: await extension.resolvedEnv(),
                     };
 
diff --git a/src/extension.ts b/src/extension.ts
index 22557de0..a1e0d728 100644
--- a/src/extension.ts
+++ b/src/extension.ts
@@ -21,15 +21,6 @@ import * as debug_manager from "./debugger/manager";
 import * as debug_utils from "./debugger/utils";
 import { registerRosShellTaskProvider } from "./build-tool/ros-shell";
 
-/**
- * The catkin workspace base dir.
- */
-export let baseDir: string;
-
-export function setBaseDir(dir: string) {
-    baseDir = dir;
-}
-
 /**
  * The sourced ROS environment.
  */
@@ -192,7 +183,6 @@ export async function activate(context: vscode.ExtensionContext) {
         await activateEnvironment(context);
 
         return {
-            getBaseDir: () => baseDir,
             getEnv: () => env,
             onDidChangeEnv: (listener: () => any, thisArg: any) => onDidChangeEnv(listener, thisArg),
         };
@@ -242,6 +232,8 @@ async function activateEnvironment(context: vscode.ExtensionContext) {
         return;
     }
 
+    outputChannel.appendLine(`Determining build tool for workspace: ${vscode.workspace.rootPath}`);
+
     // Determine if we're in a catkin workspace.
     let buildToolDetected = await buildtool.determineBuildTool(vscode.workspace.rootPath);
 
@@ -257,6 +249,9 @@ async function activateEnvironment(context: vscode.ExtensionContext) {
     subscriptions.push(rosApi.activateCoreMonitor());
     if (buildToolDetected) {
         subscriptions.push(...buildtool.BuildTool.registerTaskProvider());
+    } else {
+        outputChannel.appendLine(`Build tool NOT detected`);
+
     }
     subscriptions.push(...registerRosShellTaskProvider());
 
@@ -302,6 +297,8 @@ async function sourceRosAndWorkspace(): Promise<void> {
     // Wait to atomicly switch by composing a new environment block then switching at the end.
     let newEnv = undefined;
 
+    outputChannel.appendLine("Sourcing ROS and Workspace");
+
     const kWorkspaceConfigTimeout = 30000; // ms
 
     let setupScriptExt: string;
@@ -330,6 +327,8 @@ async function sourceRosAndWorkspace(): Promise<void> {
             try {
                 newEnv = await ros_utils.sourceSetupFile(rosSetupScript, newEnv);
 
+                outputChannel.appendLine(`Sourced ${rosSetupScript}`);
+
                 attemptWorkspaceDiscovery = false;
             } catch (err) {
                 vscode.window.showErrorMessage(`A ROS setup script was provided, but could not source "${rosSetupScript}". Attempting standard discovery.`);
@@ -341,22 +340,39 @@ async function sourceRosAndWorkspace(): Promise<void> {
         let distro = config.get("distro", "");
 
         // Is there a distro defined either by setting or environment?
-        if (!distro && !process.env.ROS_DISTRO)
+        outputChannel.appendLine(`Current ROS_DISTRO environment variable: ${process.env.ROS_DISTRO}`);
+        if (!distro)
         {
             // No? Try to find one.
             const installedDistros = await ros_utils.getDistros();
             if (!installedDistros.length) {
+                outputChannel.appendLine(`No distros found.`);
+
                 throw new Error("ROS has not been found on this system.");
             } else if (installedDistros.length === 1) {
+                outputChannel.appendLine(`Only one distro, selecting ${installedDistros[0]}`);
                 
                 // if there is only one distro installed, directly choose it
                 config.update("distro", installedDistros[0]);
+                distro = installedDistros[0];
             } else {
+                outputChannel.appendLine(`Multiple distros found, prompting user to select one.`);
+                // dump installedDistros to outputChannel
+                outputChannel.appendLine(`Installed distros: ${installedDistros}`);
+
                 const message = "Unable to determine ROS distribution, please configure this workspace by adding \"ros.distro\": \"<ROS Distro>\" in settings.json";
                 await vscode.window.setStatusBarMessage(message, kWorkspaceConfigTimeout);
             }
         }
 
+        if (process.env.ROS_DISTRO && process.env.ROS_DISTRO !== distro) {
+            outputChannel.appendLine(`ROS_DISTRO environment variable (${process.env.ROS_DISTRO}) does not match configured distro (${distro}).`);
+
+            outputChannel.appendLine(`Overriding the configured distro with the environment variable.`);
+
+            distro = process.env.ROS_DISTRO;
+        }
+
         if (distro) {
             let setupScript: string;
             try {
@@ -371,6 +387,8 @@ async function sourceRosAndWorkspace(): Promise<void> {
                     name: "setup",
                     ext: setupScriptExt,
                 });
+
+                outputChannel.appendLine(`Sourcing ROS Distro: ${setupScript}`);
                 newEnv = await ros_utils.sourceSetupFile(setupScript, newEnv);
             } catch (err) {
                 vscode.window.showErrorMessage(`Could not source ROS setup script at "${setupScript}".`);
@@ -381,30 +399,35 @@ async function sourceRosAndWorkspace(): Promise<void> {
     }
 
     let workspaceOverlayPath: string = "";
-    if (baseDir !== undefined) {
-        // Source the workspace setup over the top.
-        // TODO: we should test what's the build tool (catkin vs colcon).
-        workspaceOverlayPath = path.join(`${baseDir}`, "devel_isolated");
+    // Source the workspace setup over the top.
+
+    if (newEnv.ROS_VERSION === "1") {
+        workspaceOverlayPath = path.join(`${vscode.workspace.rootPath}`, "devel_isolated");
         if (!await pfs.exists(workspaceOverlayPath)) {
-            workspaceOverlayPath = path.join(`${baseDir}`, "devel");
+            workspaceOverlayPath = path.join(`${vscode.workspace.rootPath}`, "devel");
         }
+    } else {    // FUTURE: Revisit if ROS_VERSION changes - not clear it will be called 3
         if (!await pfs.exists(workspaceOverlayPath)) {
-            workspaceOverlayPath = path.join(`${baseDir}`, "install");
+            workspaceOverlayPath = path.join(`${vscode.workspace.rootPath}`, "install");
         }
-        let wsSetupScript: string = path.format({
-            dir: workspaceOverlayPath,
-            name: "setup",
-            ext: setupScriptExt,
-        });
+    }
 
-        if (newEnv && typeof newEnv.ROS_DISTRO !== "undefined" && await pfs.exists(wsSetupScript)) {
-            try {
-                newEnv = await ros_utils.sourceSetupFile(wsSetupScript, newEnv);
-            } catch (_err) {
-                vscode.window.showErrorMessage("Failed to source the workspace setup file.");
-            }
-        }
+    let wsSetupScript: string = path.format({
+        dir: workspaceOverlayPath,
+        name: "setup",
+        ext: setupScriptExt,
+    });
 
+    if (await pfs.exists(wsSetupScript)) {
+        outputChannel.appendLine(`Workspace overlay path: ${wsSetupScript}`);
+    
+        try {
+            newEnv = await ros_utils.sourceSetupFile(wsSetupScript, newEnv);
+        } catch (_err) {
+            vscode.window.showErrorMessage("Failed to source the workspace setup file.");
+        }
+    } else {
+        outputChannel.appendLine(`Not sourcing workspace does not exist yet: ${wsSetupScript}. Need to build workspace.`);
     }
 
     env = newEnv;
diff --git a/src/ros/build-env-utils.ts b/src/ros/build-env-utils.ts
index 0285a2c2..9b9f7ed8 100644
--- a/src/ros/build-env-utils.ts
+++ b/src/ros/build-env-utils.ts
@@ -50,7 +50,7 @@ export async function updateCppProperties(context: vscode.ExtensionContext): Pro
  */
 async function updateCppPropertiesInternal(): Promise<void> {
     let includes = await rosApi.getIncludeDirs();
-    const workspaceIncludes = await rosApi.getWorkspaceIncludeDirs(extension.baseDir);
+    const workspaceIncludes = await rosApi.getWorkspaceIncludeDirs(vscode.workspace.rootPath);
     includes = includes.concat(workspaceIncludes);
 
     if (process.platform === "linux") {
diff --git a/src/ros/ros1/core-helper.ts b/src/ros/ros1/core-helper.ts
index 11ecb519..216d5954 100644
--- a/src/ros/ros1/core-helper.ts
+++ b/src/ros/ros1/core-helper.ts
@@ -15,7 +15,7 @@ export function startCore(context: vscode.ExtensionContext) {
 
     let launchCoreCommand: string = "roscore";
     let processOptions: child_process.SpawnOptions = {
-        cwd: extension.baseDir,
+        cwd: vscode.workspace.rootPath,
         env: extension.env,
     };
 
diff --git a/src/ros/utils.ts b/src/ros/utils.ts
index f5a03110..84fdb508 100644
--- a/src/ros/utils.ts
+++ b/src/ros/utils.ts
@@ -25,7 +25,7 @@ export function sourceSetupFile(filename: string, env?: any): Promise<any> {
         }
 
         let processOptions: child_process.ExecOptions = {
-            cwd: extension.baseDir,
+            cwd: vscode.workspace.rootPath,
             env: env,
         };
         child_process.exec(exportEnvCommand, processOptions, (error, stdout, _stderr) => {
@@ -49,7 +49,7 @@ export function sourceSetupFile(filename: string, env?: any): Promise<any> {
 export function xacro(filename: string): Promise<any> {
     return new Promise((resolve, reject) => {
         let processOptions = {
-            cwd: extension.baseDir,
+            cwd: vscode.workspace.rootPath,
             env: extension.env,
             windowsHide: false,
         };