├── .clang-format ├── .clang-tidy ├── .devcontainer └── devcontainer.json ├── .env ├── .github └── workflows │ └── update-image.yml ├── .gitignore ├── .gitmodules ├── .script ├── attach-remote ├── build-rmcs ├── clean-rmcs ├── complete │ ├── _play-autoaim │ └── _set-remote ├── launch-rmcs ├── play-autoaim ├── set-remote ├── set-robot ├── ssh-remote ├── sync-remote ├── template │ ├── entrypoint │ ├── env_setup.bash │ ├── env_setup.zsh │ ├── rmcs-service │ └── set-hostname └── wait-sync ├── .ssh └── config ├── .vscode └── settings.default.json ├── Dockerfile ├── README.md ├── docker-compose.yml ├── docs └── zh-cn │ ├── build_docker_image.md │ ├── docker_with_proxy.md │ ├── fix_devcontainer_stuck.md │ ├── nvim.md │ └── wsl2_develop_guide.md └── rmcs_ws └── src ├── rmcs_bringup ├── CMakeLists.txt ├── LICENSE ├── config │ ├── mecanum-hero.yaml │ └── steering-infantry.yaml ├── launch │ └── rmcs.launch.py └── package.xml ├── rmcs_core ├── CMakeLists.txt ├── include │ └── rmcs_core │ │ └── .gitkeep ├── package.xml ├── plugins.xml └── src │ ├── broadcaster │ ├── tf_broadcaster.cpp │ └── value_broadcaster.cpp │ ├── controller │ ├── chassis │ │ ├── chassis_controller.cpp │ │ ├── chassis_power_controller.cpp │ │ ├── omni_wheel_controller.cpp │ │ ├── qcp_solver.hpp │ │ └── steering_wheel_controller.cpp │ ├── gimbal │ │ ├── dual_yaw_controller.cpp │ │ ├── hero_gimbal_controller.cpp │ │ ├── player_viewer.cpp │ │ ├── precise_two_axis_gimbal_solver.hpp │ │ ├── simple_gimbal_controller.cpp │ │ └── two_axis_gimbal_solver.hpp │ ├── pid │ │ ├── error_pid_controller.cpp │ │ ├── matrix_pid_calculator.hpp │ │ ├── pid_calculator.hpp │ │ ├── pid_controller.cpp │ │ └── smart_input.hpp │ └── shooting │ │ ├── bullet_feeder_controller_17mm.cpp │ │ ├── bullet_feeder_controller_42mm.cpp │ │ ├── friction_wheel_controller.cpp │ │ ├── heat_controller.cpp │ │ └── shooting_recorder.cpp │ ├── filter │ └── low_pass_filter.hpp │ ├── hardware │ ├── device │ │ ├── benewake.hpp │ │ ├── bmi088.hpp │ │ ├── dji_motor.hpp │ │ ├── dr16.hpp │ │ ├── gy614.hpp │ │ ├── hipnuc.hpp │ │ ├── lk_motor.hpp │ │ └── supercap.hpp │ ├── hero.cpp │ ├── infantry.cpp │ ├── steering-hero.cpp │ ├── steering-infantry.cpp │ └── tunnel_infantry.cpp │ └── referee │ ├── app │ └── ui │ │ ├── hero.cpp │ │ ├── infantry.cpp │ │ ├── shape │ │ ├── cfs_scheduler.hpp │ │ ├── red_black_tree.hpp │ │ ├── remote_shape.hpp │ │ └── shape.hpp │ │ └── widget │ │ ├── crosshair.hpp │ │ ├── rangefinder.hpp │ │ └── status_ring.hpp │ ├── command.cpp │ ├── command │ ├── field.hpp │ ├── interaction.cpp │ ├── interaction │ │ ├── communicate.cpp │ │ ├── header.hpp │ │ ├── sentry_decision.cpp │ │ └── ui.cpp │ ├── map_marker.cpp │ └── text_display.cpp │ ├── frame.hpp │ ├── status.cpp │ └── status │ └── field.hpp ├── rmcs_description ├── CMakeLists.txt ├── LICENSE ├── config │ └── .gitkeep ├── include │ └── rmcs_description │ │ └── tf_description.hpp ├── launch │ └── display.launch.py ├── meshes │ ├── collision │ │ └── .gitkeep │ └── visual │ │ ├── base_link.stl │ │ ├── pitch_link.stl │ │ ├── wheel_link.stl │ │ └── yaw_link.stl ├── package.xml ├── rviz │ └── display.rviz ├── src │ └── tf_description.cpp └── urdf │ └── medium_feed_omni_wheel.xacro ├── rmcs_executor ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include │ └── rmcs_executor │ │ └── component.hpp ├── package.xml └── src │ ├── component.cpp │ ├── executor.hpp │ ├── main.cpp │ └── predefined_msg_provider.hpp ├── rmcs_msgs ├── CMakeLists.txt ├── include │ └── rmcs_msgs │ │ ├── chassis_mode.hpp │ │ ├── full_robot_id.hpp │ │ ├── game_stage.hpp │ │ ├── gimbal_mode.hpp │ │ ├── keyboard.hpp │ │ ├── mouse.hpp │ │ ├── robot_color.hpp │ │ ├── robot_id.hpp │ │ ├── serial_interface.hpp │ │ ├── shoot_mode.hpp │ │ ├── shoot_status.hpp │ │ └── switch.hpp ├── msg │ ├── ArmorPlate.msg │ ├── ArmorPlateArray.msg │ ├── GameStatus.msg │ ├── Point2f.msg │ ├── RobotPose.msg │ └── RobotStatus.msg └── package.xml └── rmcs_utility ├── CMakeLists.txt ├── LICENSE ├── include └── 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