├── .gitignore ├── Docker └── Dockerfile ├── README.md ├── Section10_Probability-for-Robotics └── bumperbot_ws │ └── src │ ├── CMakeLists.txt │ ├── bumperbot_controller │ ├── CMakeLists.txt │ ├── config │ │ ├── diff_drive_controller.yaml │ │ ├── joystick.yaml │ │ └── simple_controller.yaml │ ├── include │ │ └── bumperbot_controller │ │ │ ├── noisy_controller.h │ │ │ └── simple_controller.h │ ├── launch │ │ ├── controller.launch │ │ └── joystick_teleop.launch │ ├── nodes │ │ ├── noisy_controller_node.cpp │ │ ├── noisy_controller_node.py │ │ ├── simple_controller_node.cpp │ │ └── simple_controller_node.py │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── bumperbot_controller │ │ ├── __init__.py │ │ ├── noisy_controller.py │ │ └── simple_controller.py │ │ ├── noisy_controller.cpp │ │ └── simple_controller.cpp │ ├── bumperbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── display.rviz │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── caster_front_link.STL │ │ ├── caster_rear_link.STL │ │ ├── imu_link.STL │ │ ├── laser_link.STL │ │ ├── wheel_left_link.STL │ │ └── wheel_right_link.STL │ ├── package.xml │ └── urdf │ │ ├── bumperbot.urdf.xacro │ │ └── bumperbot_gazebo.xacro │ └── bumperbot_examples │ ├── CMakeLists.txt │ ├── include │ └── bumperbot_examples │ │ ├── tf_examples.h │ │ └── turtlesim_kinematics.h │ ├── nodes │ ├── simple_publisher.cpp │ ├── simple_publisher.py │ ├── simple_service_client.cpp │ ├── simple_service_client.py │ ├── simple_service_server.cpp │ ├── simple_service_server.py │ ├── simple_subscriber.cpp │ ├── simple_subscriber.py │ ├── simple_timer.cpp │ ├── simple_timer.py │ ├── tf_examples_node.cpp │ ├── tf_examples_node.py │ ├── turtlesim_kinematics_node.cpp │ └── turtlesim_kinematics_node.py │ ├── package.xml │ ├── setup.py │ ├── src │ ├── bumperbot_examples │ │ ├── __init__.py │ │ ├── tf_examples.py │ │ └── turtlesim_kinematics.py │ ├── tf_examples.cpp │ └── turtlesim_kinematics.cpp │ └── srv │ ├── AddTwoInts.srv │ └── GetTransform.srv ├── Section11_Sensor-Fusion └── bumperbot_ws │ └── src │ ├── CMakeLists.txt │ ├── bumperbot_controller │ ├── CMakeLists.txt │ ├── config │ │ ├── diff_drive_controller.yaml │ │ ├── joystick.yaml │ │ └── simple_controller.yaml │ ├── include │ │ └── bumperbot_controller │ │ │ ├── noisy_controller.h │ │ │ └── simple_controller.h │ ├── launch │ │ ├── controller.launch │ │ └── joystick_teleop.launch │ ├── nodes │ │ ├── noisy_controller_node.cpp │ │ ├── noisy_controller_node.py │ │ ├── simple_controller_node.cpp │ │ └── simple_controller_node.py │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── bumperbot_controller │ │ ├── __init__.py │ │ ├── noisy_controller.py │ │ └── simple_controller.py │ │ ├── noisy_controller.cpp │ │ └── simple_controller.cpp │ ├── bumperbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── display.rviz │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── caster_front_link.STL │ │ ├── caster_rear_link.STL │ │ ├── imu_link.STL │ │ ├── laser_link.STL │ │ ├── wheel_left_link.STL │ │ └── wheel_right_link.STL │ ├── package.xml │ └── urdf │ │ ├── bumperbot.urdf.xacro │ │ └── bumperbot_gazebo.xacro │ ├── bumperbot_examples │ ├── CMakeLists.txt │ ├── include │ │ └── bumperbot_examples │ │ │ ├── tf_examples.h │ │ │ └── turtlesim_kinematics.h │ ├── nodes │ │ ├── simple_publisher.cpp │ │ ├── simple_publisher.py │ │ ├── simple_service_client.cpp │ │ ├── simple_service_client.py │ │ ├── simple_service_server.cpp │ │ ├── simple_service_server.py │ │ ├── simple_subscriber.cpp │ │ ├── simple_subscriber.py │ │ ├── simple_timer.cpp │ │ ├── simple_timer.py │ │ ├── tf_examples_node.cpp │ │ ├── tf_examples_node.py │ │ ├── turtlesim_kinematics_node.cpp │ │ └── turtlesim_kinematics_node.py │ ├── package.xml │ ├── setup.py │ ├── src │ │ ├── bumperbot_examples │ │ │ ├── __init__.py │ │ │ ├── tf_examples.py │ │ │ └── turtlesim_kinematics.py │ │ ├── tf_examples.cpp │ │ └── turtlesim_kinematics.cpp │ └── srv │ │ ├── AddTwoInts.srv │ │ └── GetTransform.srv │ └── bumperbot_localization │ ├── CMakeLists.txt │ ├── config │ └── ekf.yaml │ ├── include │ └── bumperbot_localization │ │ └── kalman_filter.h │ ├── launch │ └── local_localization.launch │ ├── nodes │ ├── imu_republisher_node.cpp │ ├── imu_republisher_node.py │ ├── kalman_filter_node.cpp │ └── kalman_filter_node.py │ ├── package.xml │ ├── setup.py │ └── src │ ├── bumperbot_localization │ ├── __init__.py │ └── kalman_filter.py │ └── kalman_filter.cpp ├── Section3_ROS-Introduction └── bumperbot_ws │ └── src │ └── bumperbot_examples │ ├── CMakeLists.txt │ ├── nodes │ ├── simple_publisher.cpp │ ├── simple_publisher.py │ ├── simple_subscriber.cpp │ └── simple_subscriber.py │ └── package.xml ├── Section4_Locomotion └── bumperbot_ws │ └── src │ ├── bumperbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── display.rviz │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── caster_front_link.STL │ │ ├── caster_rear_link.STL │ │ ├── imu_link.STL │ │ ├── laser_link.STL │ │ ├── wheel_left_link.STL │ │ └── wheel_right_link.STL │ ├── package.xml │ └── urdf │ │ ├── bumperbot.urdf.xacro │ │ └── bumperbot_gazebo.xacro │ └── bumperbot_examples │ ├── CMakeLists.txt │ ├── nodes │ ├── simple_publisher.cpp │ ├── simple_publisher.py │ ├── simple_subscriber.cpp │ └── simple_subscriber.py │ └── package.xml ├── Section5_Control └── bumperbot_ws │ └── src │ ├── CMakeLists.txt │ ├── bumperbot_controller │ ├── CMakeLists.txt │ ├── config │ │ └── simple_controller.yaml │ ├── launch │ │ └── controller.launch │ └── package.xml │ ├── bumperbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── display.rviz │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── caster_front_link.STL │ │ ├── caster_rear_link.STL │ │ ├── imu_link.STL │ │ ├── laser_link.STL │ │ ├── wheel_left_link.STL │ │ └── wheel_right_link.STL │ ├── package.xml │ └── urdf │ │ ├── bumperbot.urdf.xacro │ │ └── bumperbot_gazebo.xacro │ └── bumperbot_examples │ ├── CMakeLists.txt │ ├── nodes │ ├── simple_publisher.cpp │ ├── simple_publisher.py │ ├── simple_subscriber.cpp │ └── simple_subscriber.py │ └── package.xml ├── Section6_Kinematics └── bumperbot_ws │ └── src │ ├── bumperbot_controller │ ├── CMakeLists.txt │ ├── config │ │ └── simple_controller.yaml │ ├── launch │ │ └── controller.launch │ └── package.xml │ ├── bumperbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── display.rviz │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── caster_front_link.STL │ │ ├── caster_rear_link.STL │ │ ├── imu_link.STL │ │ ├── laser_link.STL │ │ ├── wheel_left_link.STL │ │ └── wheel_right_link.STL │ ├── package.xml │ └── urdf │ │ ├── bumperbot.urdf.xacro │ │ └── bumperbot_gazebo.xacro │ └── bumperbot_examples │ ├── CMakeLists.txt │ ├── include │ └── bumperbot_examples │ │ └── turtlesim_kinematics.h │ ├── nodes │ ├── simple_publisher.cpp │ ├── simple_publisher.py │ ├── simple_subscriber.cpp │ ├── simple_subscriber.py │ ├── turtlesim_kinematics_node.cpp │ └── turtlesim_kinematics_node.py │ ├── package.xml │ ├── setup.py │ └── src │ ├── bumperbot_examples │ ├── __init__.py │ └── turtlesim_kinematics.py │ └── turtlesim_kinematics.cpp ├── Section7_Differential-Kinematics └── bumperbot_ws │ └── src │ ├── CMakeLists.txt │ ├── bumperbot_controller │ ├── CMakeLists.txt │ ├── config │ │ ├── diff_drive_controller.yaml │ │ ├── joystick.yaml │ │ └── simple_controller.yaml │ ├── include │ │ └── bumperbot_controller │ │ │ └── simple_controller.h │ ├── launch │ │ ├── controller.launch │ │ └── joystick_teleop.launch │ ├── nodes │ │ ├── simple_controller_node.cpp │ │ └── simple_controller_node.py │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── bumperbot_controller │ │ ├── __init__.py │ │ └── simple_controller.py │ │ └── simple_controller.cpp │ ├── bumperbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── display.rviz │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── caster_front_link.STL │ │ ├── caster_rear_link.STL │ │ ├── imu_link.STL │ │ ├── laser_link.STL │ │ ├── wheel_left_link.STL │ │ └── wheel_right_link.STL │ ├── package.xml │ └── urdf │ │ ├── bumperbot.urdf.xacro │ │ └── bumperbot_gazebo.xacro │ └── bumperbot_examples │ ├── CMakeLists.txt │ ├── include │ └── bumperbot_examples │ │ └── turtlesim_kinematics.h │ ├── nodes │ ├── simple_publisher.cpp │ ├── simple_publisher.py │ ├── simple_subscriber.cpp │ ├── simple_subscriber.py │ ├── turtlesim_kinematics_node.cpp │ └── turtlesim_kinematics_node.py │ ├── package.xml │ ├── setup.py │ └── src │ ├── bumperbot_examples │ ├── __init__.py │ └── turtlesim_kinematics.py │ └── turtlesim_kinematics.cpp ├── Section8_TF-Library └── bumperbot_ws │ └── src │ ├── CMakeLists.txt │ ├── bumperbot_controller │ ├── CMakeLists.txt │ ├── config │ │ ├── diff_drive_controller.yaml │ │ ├── joystick.yaml │ │ └── simple_controller.yaml │ ├── include │ │ └── bumperbot_controller │ │ │ └── simple_controller.h │ ├── launch │ │ ├── controller.launch │ │ └── joystick_teleop.launch │ ├── nodes │ │ ├── simple_controller_node.cpp │ │ └── simple_controller_node.py │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── bumperbot_controller │ │ ├── __init__.py │ │ └── simple_controller.py │ │ └── simple_controller.cpp │ ├── bumperbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── display.rviz │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── caster_front_link.STL │ │ ├── caster_rear_link.STL │ │ ├── imu_link.STL │ │ ├── laser_link.STL │ │ ├── wheel_left_link.STL │ │ └── wheel_right_link.STL │ ├── package.xml │ └── urdf │ │ ├── bumperbot.urdf.xacro │ │ └── bumperbot_gazebo.xacro │ └── bumperbot_examples │ ├── CMakeLists.txt │ ├── include │ └── bumperbot_examples │ │ ├── tf_examples.h │ │ └── turtlesim_kinematics.h │ ├── nodes │ ├── simple_publisher.cpp │ ├── simple_publisher.py │ ├── simple_service_client.cpp │ ├── simple_service_client.py │ ├── simple_service_server.cpp │ ├── simple_service_server.py │ ├── simple_subscriber.cpp │ ├── simple_subscriber.py │ ├── simple_timer.cpp │ ├── simple_timer.py │ ├── tf_examples_node.cpp │ ├── tf_examples_node.py │ ├── turtlesim_kinematics_node.cpp │ └── turtlesim_kinematics_node.py │ ├── package.xml │ ├── setup.py │ ├── src │ ├── bumperbot_examples │ │ ├── __init__.py │ │ ├── tf_examples.py │ │ └── turtlesim_kinematics.py │ ├── tf_examples.cpp │ └── turtlesim_kinematics.cpp │ └── srv │ ├── AddTwoInts.srv │ └── GetTransform.srv ├── Section9_Odometry └── bumperbot_ws │ └── src │ ├── CMakeLists.txt │ ├── bumperbot_controller │ ├── CMakeLists.txt │ ├── config │ │ ├── diff_drive_controller.yaml │ │ ├── joystick.yaml │ │ └── simple_controller.yaml │ ├── include │ │ └── bumperbot_controller │ │ │ └── simple_controller.h │ ├── launch │ │ ├── controller.launch │ │ └── joystick_teleop.launch │ ├── nodes │ │ ├── simple_controller_node.cpp │ │ └── simple_controller_node.py │ ├── package.xml │ ├── setup.py │ └── src │ │ ├── bumperbot_controller │ │ ├── __init__.py │ │ └── simple_controller.py │ │ └── simple_controller.cpp │ ├── bumperbot_description │ ├── CMakeLists.txt │ ├── config │ │ └── display.rviz │ ├── launch │ │ ├── display.launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── caster_front_link.STL │ │ ├── caster_rear_link.STL │ │ ├── imu_link.STL │ │ ├── laser_link.STL │ │ ├── wheel_left_link.STL │ │ └── wheel_right_link.STL │ ├── package.xml │ └── urdf │ │ ├── bumperbot.urdf.xacro │ │ └── bumperbot_gazebo.xacro │ └── bumperbot_examples │ ├── CMakeLists.txt │ ├── include │ └── bumperbot_examples │ │ ├── tf_examples.h │ │ └── turtlesim_kinematics.h │ ├── nodes │ ├── simple_publisher.cpp │ ├── simple_publisher.py │ ├── simple_service_client.cpp │ ├── simple_service_client.py │ ├── simple_service_server.cpp │ ├── simple_service_server.py │ ├── simple_subscriber.cpp │ ├── simple_subscriber.py │ ├── simple_timer.cpp │ ├── simple_timer.py │ ├── tf_examples_node.cpp │ ├── tf_examples_node.py │ ├── turtlesim_kinematics_node.cpp │ └── turtlesim_kinematics_node.py │ ├── package.xml │ ├── setup.py │ ├── src │ ├── bumperbot_examples │ │ ├── __init__.py │ │ ├── tf_examples.py │ │ └── turtlesim_kinematics.py │ ├── tf_examples.cpp │ └── turtlesim_kinematics.cpp │ └── srv │ ├── AddTwoInts.srv │ └── GetTransform.srv └── images ├── cover_manipulators_2.png ├── cover_map_localization_2.png ├── cover_odometry_control.png └── cover_odometry_control_2.png /.gitignore: -------------------------------------------------------------------------------- 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