├── .gitignore ├── LICENSE ├── README.md ├── media ├── 3d_vision.png ├── face_detect.png ├── following.png ├── imu.png ├── mani_grab.png ├── mani_urdf.png ├── map.png ├── navigation.png ├── object_detect.png ├── odom.png ├── slam.png ├── sr.png ├── wpb_ros.jpg ├── wpb_ros_mani.png └── wpb_ros_spec.jpg ├── wpb_home_behaviors ├── CMakeLists.txt ├── launch │ ├── all_servers.launch │ ├── face_detect_3d.launch │ ├── grab_action.launch │ ├── grab_app.launch │ ├── grab_monitor.launch │ └── obj_3d.launch ├── msg │ ├── Coord.msg │ └── Rect.msg ├── package.xml ├── rviz │ └── grab.rviz └── src │ ├── wpb_home_face_detect_3d.cpp │ ├── wpb_home_grab_action.cpp │ ├── wpb_home_grab_server.cpp │ ├── wpb_home_objects_3d.cpp │ ├── wpb_home_pass_server.cpp │ └── wpb_home_place_action.cpp ├── wpb_home_bringup ├── CMakeLists.txt ├── config │ └── wpb_home.yaml ├── include │ └── driver │ │ ├── SerialCom.h │ │ └── WPB_Home_driver.h ├── launch │ ├── calibrate_velocity.launch │ ├── imu_odom.launch │ ├── js_ctrl.launch │ ├── kinect_base.launch │ ├── kinect_test.launch │ ├── lidar_base.launch │ ├── lidar_test.launch │ ├── mani_test.launch │ ├── mani_urdf.launch │ ├── minimal.launch │ ├── motor_encoder_test.launch │ ├── normal.launch │ ├── odom.launch │ └── urdf.launch ├── meshes │ ├── finger.dae │ ├── forearm.dae │ ├── wpb_home.dae │ └── wpb_home_mani.dae ├── package.xml ├── rviz │ ├── imu_tf.rviz │ ├── odom.rviz │ ├── sensor.rviz │ └── urdf.rviz ├── scripts │ ├── 90-kinect2.rules │ ├── create_udev_rules.sh │ ├── delete_udev_rules.sh │ ├── ftdi.rules │ ├── install_for_kinetic.sh │ ├── install_for_melodic.sh │ ├── install_for_noetic.sh │ └── rplidar.rules ├── src │ ├── driver │ │ ├── SerialCom.cpp │ │ └── WPB_Home_driver.cpp │ ├── wpb_home_calibrate_velocity.cpp │ ├── wpb_home_core.cpp │ ├── wpb_home_imu_tf.cpp │ ├── wpb_home_js_vel.cpp │ ├── wpb_home_lidar_filter.cpp │ ├── wpb_home_motor_encoder.cpp │ ├── wpb_home_test_mani.cpp │ └── wpb_home_test_motors.cpp └── urdf │ ├── wpb_home.urdf │ └── wpb_home_mani.urdf ├── wpb_home_python ├── CMakeLists.txt ├── config │ └── haarcascade_frontalface_alt.xml ├── launch │ └── map_tools.launch ├── package.xml └── scripts │ ├── grab_node.py │ ├── image_data.py │ ├── image_face_detect.py │ ├── lidar_behavior.py │ ├── lidar_data.py │ ├── mani_ctrl.py │ ├── map_tools_navi.py │ ├── object_detect.py │ ├── pointcloud_data.py │ ├── pointcloud_field.py │ ├── serve_drink.py │ ├── simple_goal.py │ ├── speak_node.py │ ├── sr_cn_node.py │ ├── sr_en_node.py │ └── velocity_command.py ├── wpb_home_python3 ├── CMakeLists.txt ├── package.xml └── scripts │ ├── grab_node.py │ ├── image_data.py │ ├── image_face_detect.py │ ├── lidar_behavior.py │ ├── lidar_data.py │ ├── mani_ctrl.py │ ├── map_tools_navi.py │ ├── object_detect.py │ ├── pointcloud_data.py │ ├── pointcloud_field.py │ ├── serve_drink.py │ ├── simple_goal.py │ ├── speak_node.py │ ├── sr_cn_node.py │ ├── sr_en_node.py │ └── velocity_command.py ├── wpb_home_remote ├── CMakeLists.txt ├── launch │ ├── fetch_app.launch │ ├── fetch_monitor.launch │ ├── gmapping_app.launch │ ├── gmapping_monitor.launch │ ├── grab_app.launch │ ├── grab_monitor.launch │ ├── home_app.launch │ ├── home_monitor.launch │ ├── nav_app.launch │ └── nav_monitor.launch ├── package.xml └── rviz │ ├── grab.rviz │ ├── nav.rviz │ └── slam.rviz ├── wpb_home_tutorials ├── CMakeLists.txt ├── config │ └── haarcascade_frontalface_alt.xml ├── data │ └── libkl_outlier.so ├── include │ └── kl_outlier.h ├── launch │ ├── 3d_slam.launch │ ├── capture_image.launch │ ├── face_detect.launch │ ├── follow.launch │ ├── gmapping.launch │ ├── grab_demo.launch │ ├── grab_middle.launch │ ├── grab_scene.launch │ ├── hector_mapping.launch │ ├── imu_turn.launch │ ├── kinect_tracker.launch │ ├── lidar_demo.launch │ ├── mani_ctrl.launch │ ├── mobile_manipulation.launch │ ├── nav.launch │ ├── nav_cruise.launch │ ├── obj_detect.launch │ ├── sound_local.launch │ ├── sound_play.launch │ ├── speak.launch │ ├── speech_recognition.launch │ ├── sr_xfyun.launch │ └── voice_cmd.launch ├── maps │ └── .gitignore ├── nav_lidar │ ├── amcl_diff.launch │ ├── amcl_omni.launch │ ├── costmap_common_params.yaml │ ├── dwa_local_planner_params.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_params.yaml │ ├── local_planner_params.yaml │ └── teb_local_planner_params.yaml ├── package.xml ├── rviz │ ├── 3d_slam.rviz │ ├── face_detect.rviz │ ├── follow.rviz │ ├── kinect_tracker.rviz │ ├── mobile_manipulation.rviz │ ├── nav.rviz │ ├── obj_detect.rviz │ └── slam.rviz ├── sr │ ├── sr_keyword.corpus │ ├── sr_keyword.dic │ ├── sr_keyword.lm │ ├── voice_cmd.corpus │ ├── voice_cmd.dic │ └── voice_cmd.lm ├── src │ ├── wpb_home_behavior_node.cpp │ ├── wpb_home_capture_image.cpp │ ├── wpb_home_cruise.cpp │ ├── wpb_home_face_detect.cpp │ ├── wpb_home_face_node.cpp │ ├── wpb_home_follow.cpp │ ├── wpb_home_grab_client.cpp │ ├── wpb_home_grab_middle.cpp │ ├── wpb_home_grab_node.cpp │ ├── wpb_home_grab_object.cpp │ ├── wpb_home_image_node.cpp │ ├── wpb_home_imu_turn.cpp │ ├── wpb_home_joystick_demo.cpp │ ├── wpb_home_lidar_behavior.cpp │ ├── wpb_home_lidar_data.cpp │ ├── wpb_home_lidar_obstacle.cpp │ ├── wpb_home_mani_ctrl.cpp │ ├── wpb_home_obj_detect.cpp │ ├── wpb_home_obj_node.cpp │ ├── wpb_home_plane_detect.cpp │ ├── wpb_home_pointcloud_cluster.cpp │ ├── wpb_home_pointcloud_node.cpp │ ├── wpb_home_serve_drinks.cpp │ ├── wpb_home_simple_goal.cpp │ ├── wpb_home_sound_local.cpp │ ├── wpb_home_speak.cpp │ ├── wpb_home_speech_recognition.cpp │ ├── wpb_home_sr_xfyun.cpp │ ├── wpb_home_velocity_control.cpp │ └── wpb_home_voice_cmd.cpp └── srv │ └── Follow.srv └── wpbh_local_planner ├── CMakeLists.txt ├── data └── libwl_helper.so ├── include └── wpbh_local_planner │ ├── CLidarAC.h │ ├── wl_helper.h │ └── wpbh_local_planner.h ├── package.xml ├── src ├── CLidarAC.cpp └── wpbh_local_planner.cpp └── wpbh_local_planner_plugin.xml /.gitignore: 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