├── .catkin_workspace ├── README.md ├── install.sh └── src ├── CMakeLists.txt ├── art_driver ├── CMakeLists.txt ├── README ├── include │ └── art_racecar_driver.h ├── lib │ └── libart_driver.a ├── package.xml └── src │ └── art_racecar.cpp ├── art_imu ├── CMakeLists.txt ├── launch │ ├── imu.launch │ ├── imu_test.launch │ └── rviz.launch ├── package.xml ├── rviz │ └── imu.rviz └── src │ └── art_imu.cc ├── art_racecar ├── CMakeLists.txt ├── README.md ├── art_rviz.sh ├── cfg │ └── imu.cfg ├── doc │ ├── Art_Racecar软件配置说明.pdf │ ├── ROS竞速小车使用说明.pdf │ ├── 单片机硬件原理图(参考).pdf │ └── 电路板接口图.pdf ├── launch │ ├── Run_car.launch │ ├── Run_gmapping.launch │ ├── amcl_nav.launch │ ├── car.launch │ ├── includes │ │ ├── amcl.launch.xml │ │ ├── art_car_tf.launch.xml │ │ ├── default_mapping.launch.xml │ │ ├── ls01g.launch.xml │ │ ├── rf2o.launch.xml │ │ └── rplidar.launch.xml │ ├── ls01g_lidar.launch │ ├── rviz.launch │ └── teleop_joy.launch ├── map │ ├── mymap.yaml │ └── test.yaml ├── package.xml ├── param │ ├── base_global_planner_params.yaml │ ├── dwa_local_planner_params.yaml │ ├── ekf_params.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_params.yaml │ └── move_base_params.yaml ├── rviz │ ├── amcl.rviz │ ├── gmapping.rviz │ └── test_laser.rviz ├── save_map.sh ├── src │ ├── ESC_calibration.py │ ├── PID.h │ ├── art_car_controller.cpp │ ├── art_car_controller.hpp │ ├── lib │ │ └── libart_controller.a │ ├── racecar_joy.py │ └── racecar_teleop.py ├── ssh.sh └── udev │ ├── README │ ├── art_init.sh │ ├── car.rules │ ├── imu.rules │ └── laser.rules ├── ls01g ├── CMakeLists.txt ├── Y.txt ├── example │ ├── hector_ls01g.png │ ├── karto.png │ └── laser_gmapping.png ├── launch │ ├── ls01g.launch │ ├── rviz.launch │ ├── rviz.rviz │ ├── talker2.launch │ ├── talker_shell.launch │ ├── test.launch │ └── test_ls01g.launch ├── package.xml ├── rviz │ ├── kobuki_rviz_viewer.rviz │ └── slam.rviz ├── scripts │ ├── LS01A.py │ ├── create_udev_rules.sh │ ├── delete_udev_rules.sh │ └── laser.rules ├── slam_launch │ ├── gmapping.launch │ ├── hectormapping.launch │ ├── karto.launch │ ├── karto_mapper_params.yaml │ └── viewer_rviz.launch └── src │ ├── main.cpp │ ├── uart_driver.cpp │ └── uart_driver.h ├── navigation_tutorials ├── README.md ├── laser_scan_publisher_tutorial │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── laser_scan_publisher.cpp ├── navigation_stage │ ├── CMakeLists.txt │ ├── launch │ │ ├── move_base_amcl_10cm.launch │ │ ├── move_base_amcl_2.5cm.launch │ │ ├── move_base_amcl_5cm.launch │ │ ├── move_base_fake_localization_10cm.launch │ │ ├── move_base_fake_localization_2.5cm.launch │ │ ├── move_base_fake_localization_5cm.launch │ │ ├── move_base_gmapping_5cm.launch │ │ └── move_base_multi_robot.launch │ ├── move_base_config │ │ ├── amcl_node.xml │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ ├── move_base.xml │ │ └── slam_gmapping.xml │ ├── multi_robot.rviz │ ├── package.xml │ ├── single_robot.rviz │ └── stage_config │ │ ├── maps │ │ ├── willow-full-0.025.pgm │ │ ├── willow-full-0.05.pgm │ │ └── willow-full.pgm │ │ └── worlds │ │ ├── willow-pr2-2.5cm.world │ │ ├── willow-pr2-5cm.world │ │ ├── willow-pr2-multi.world │ │ └── willow-pr2.world ├── navigation_tutorials │ ├── CMakeLists.txt │ └── package.xml ├── odometry_publisher_tutorial │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── odometry_publisher.cpp ├── point_cloud_publisher_tutorial │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── point_cloud_publisher.cpp ├── robot_setup_tf_tutorial │ ├── CMakeLists.txt │ ├── manifest.xml │ ├── package.xml │ └── src │ │ ├── tf_broadcaster.cpp │ │ └── tf_listener.cpp ├── roomba_stage │ ├── CMakeLists.txt │ ├── manifest.xml │ ├── maps │ │ ├── lse_arena.pgm │ │ └── lse_arena.yaml │ ├── move_base_lse_arena.launch │ ├── package.xml │ ├── params │ │ ├── amcl_roomba.launch │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── local_costmap_params_2.yaml │ ├── roomba_lse_arena.world │ └── roomba_stage.rviz └── simple_navigation_goals_tutorial │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ └── simple_navigation_goals.cpp ├── rf2o_laser_odometry ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cmake-build-debug │ ├── CATKIN_IGNORE │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.9.6 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── CMakeRuleHashes.txt │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── Progress │ │ │ ├── 2 │ │ │ └── count.txt │ │ ├── TargetDirectories.txt │ │ ├── actionlib_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── clean_test_results.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── clion-environment.txt │ │ ├── clion-log.txt │ │ ├── cmake.check_cache │ │ ├── download_extra_data.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── doxygen.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ ├── geometry_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nav_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nav_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nav_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nav_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nav_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── progress.marks │ │ ├── rf2o_laser_odometry_node.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ └── src │ │ │ │ └── CLaserOdometry2D.cpp.o │ │ ├── roscpp_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── run_tests.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tests.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ └── tf_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── catkin │ │ └── catkin_generated │ │ │ └── version │ │ │ └── package.cmake │ ├── catkin_generated │ │ ├── env_cached.sh │ │ ├── generate_cached_setup.py │ │ ├── installspace │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── rf2o_laser_odometry.pc │ │ │ ├── rf2o_laser_odometryConfig-version.cmake │ │ │ ├── rf2o_laser_odometryConfig.cmake │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── ordered_paths.cmake │ │ ├── package.cmake │ │ ├── pkg.develspace.context.pc.py │ │ ├── pkg.installspace.context.pc.py │ │ ├── setup_cached.sh │ │ └── stamps │ │ │ └── rf2o_laser_odometry │ │ │ ├── _setup_util.py.stamp │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ ├── package.xml.stamp │ │ │ └── pkg.pc.em.stamp │ ├── cmake_install.cmake │ ├── devel │ │ ├── .catkin │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── env.sh │ │ ├── lib │ │ │ └── pkgconfig │ │ │ │ └── rf2o_laser_odometry.pc │ │ ├── setup.bash │ │ ├── setup.sh │ │ ├── setup.zsh │ │ └── share │ │ │ └── rf2o_laser_odometry │ │ │ └── cmake │ │ │ ├── rf2o_laser_odometryConfig-version.cmake │ │ │ └── rf2o_laser_odometryConfig.cmake │ └── rf2o_laser_odometry.cbp ├── include │ └── rf2o_laser_odometry │ │ └── CLaserOdometry2D.h ├── launch │ └── rf2o_laser_odometry.launch ├── package.xml └── src │ └── CLaserOdometry2D.cpp └── robot_localization ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc ├── .templates │ └── full_globaltoc.html ├── CHANGELOG.rst ├── Makefile ├── conf.py ├── configuring_robot_localization.rst ├── images │ ├── figure1.png │ └── rl_small.png ├── index.rst ├── integrating_gps.rst ├── manifest.yaml ├── migrating_from_robot_pose_ekf.rst ├── navsat_transform_node.rst ├── preparing_sensor_data.rst ├── robot_localization_ias13_revised.pdf └── state_estimation_nodes.rst ├── include └── robot_localization │ ├── ekf.h │ ├── filter_base.h │ ├── filter_common.h │ ├── filter_utilities.h │ ├── navsat_conversions.h │ ├── navsat_transform.h │ ├── robot_localization_estimator.h │ ├── ros_filter.h │ ├── ros_filter_types.h │ ├── ros_filter_utilities.h │ ├── ros_robot_localization_listener.h │ └── ukf.h ├── launch ├── dual_ekf_navsat_example.launch ├── ekf_template.launch ├── navsat_transform_template.launch └── ukf_template.launch ├── package.xml ├── params ├── dual_ekf_navsat_example.yaml ├── ekf_template.yaml ├── navsat_transform_template.yaml └── ukf_template.yaml ├── rosdoc.yaml ├── src ├── ekf.cpp ├── ekf_localization_node.cpp ├── filter_base.cpp ├── filter_utilities.cpp ├── navsat_transform.cpp ├── navsat_transform_node.cpp ├── robot_localization_estimator.cpp ├── robot_localization_listener_node.cpp ├── ros_filter.cpp ├── ros_filter_utilities.cpp ├── ros_robot_localization_listener.cpp ├── ukf.cpp └── ukf_localization_node.cpp ├── srv ├── GetState.srv ├── SetDatum.srv └── SetPose.srv └── test ├── record_all_stats.sh ├── stat_recorder.sh ├── test1.bag ├── test2.bag ├── test3.bag ├── test_ekf.cpp ├── test_ekf.test ├── test_ekf_localization_node_bag1.test ├── test_ekf_localization_node_bag2.test ├── test_ekf_localization_node_bag3.test ├── test_ekf_localization_node_interfaces.cpp ├── test_ekf_localization_node_interfaces.test ├── test_filter_base.cpp ├── test_filter_base_diagnostics_timestamps.cpp ├── test_filter_base_diagnostics_timestamps.test ├── test_localization_node_bag_pose_tester.cpp ├── test_robot_localization_estimator.cpp ├── test_robot_localization_estimator.test ├── test_ros_robot_localization_listener.cpp ├── test_ros_robot_localization_listener.test ├── test_ros_robot_localization_listener_publisher.cpp ├── test_ukf.cpp ├── test_ukf.test ├── test_ukf_localization_node_bag1.test ├── test_ukf_localization_node_bag2.test ├── test_ukf_localization_node_bag3.test ├── test_ukf_localization_node_interfaces.cpp └── test_ukf_localization_node_interfaces.test /.catkin_workspace: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ART-Robot-Release/racecar/HEAD/.catkin_workspace -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ART-Robot-Release/racecar/HEAD/README.md -------------------------------------------------------------------------------- /install.sh: -------------------------------------------------------------------------------- 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