├── .gitignore ├── .vscode ├── c_cpp_properties.json └── settings.json ├── README.md └── ROS_STM32F1 ├── BSP ├── USARTSerial │ ├── USARTSerial.cpp │ └── USARTSerial.h ├── USBSerial │ ├── USBSeial.cpp │ └── USBSerial.h ├── bsp.c ├── bsp.h ├── delay │ ├── delay.c │ └── delay.h ├── encoder │ ├── encoder.c │ └── encoder.h ├── i2c │ ├── i2c.c │ └── i2c.h ├── led │ ├── led.c │ └── led.h ├── motor │ ├── motor.c │ └── motor.h ├── mpu6050 │ ├── dmp │ │ ├── dmpKey.h │ │ ├── dmpmap.h │ │ ├── inv_mpu.c │ │ ├── inv_mpu.h │ │ ├── inv_mpu_dmp_motion_driver.c │ │ ├── inv_mpu_dmp_motion_driver.h │ │ └── 新建文件夹 │ │ │ ├── dmpKey.h │ │ │ ├── dmpmap.h │ │ │ ├── inv_mpu.c │ │ │ ├── inv_mpu.h │ │ │ ├── inv_mpu_dmp_motion_driver.c │ │ │ └── inv_mpu_dmp_motion_driver.h │ ├── mpu6050.c │ └── mpu6050.h ├── systick │ ├── systick.c │ └── systick.h ├── tim │ ├── tim.c │ └── tim.h └── usart │ ├── HardwareSerial.cpp │ ├── HardwareSerial.h │ ├── usart1.c │ ├── usart1.h │ ├── usart3.c │ └── usart3.h ├── Doc └── log.md ├── Libraries ├── CMSIS │ ├── core_cm3.c │ ├── core_cm3.h │ ├── startup │ │ ├── startup_stm32f10x_cl.s │ │ ├── startup_stm32f10x_hd.s │ │ ├── startup_stm32f10x_hd_vl.s │ │ ├── startup_stm32f10x_ld.s │ │ ├── startup_stm32f10x_ld_vl.s │ │ ├── startup_stm32f10x_md.s │ │ ├── startup_stm32f10x_md_vl.s │ │ └── startup_stm32f10x_xl.s │ ├── stm32f10x.h │ ├── system_stm32f10x.c │ └── system_stm32f10x.h ├── ROSLib │ ├── STM32Hardware.h │ ├── actionlib │ │ ├── TestAction.h │ │ ├── TestActionFeedback.h │ │ ├── TestActionGoal.h │ │ ├── TestActionResult.h │ │ ├── TestFeedback.h │ │ ├── TestGoal.h │ │ ├── TestRequestAction.h │ │ ├── TestRequestActionFeedback.h │ │ ├── TestRequestActionGoal.h │ │ ├── TestRequestActionResult.h │ │ ├── TestRequestFeedback.h │ │ ├── TestRequestGoal.h │ │ ├── TestRequestResult.h │ │ ├── TestResult.h │ │ ├── TwoIntsAction.h │ │ ├── TwoIntsActionFeedback.h │ │ ├── TwoIntsActionGoal.h │ │ ├── TwoIntsActionResult.h │ │ ├── TwoIntsFeedback.h │ │ ├── TwoIntsGoal.h │ │ └── TwoIntsResult.h │ ├── actionlib_msgs │ │ ├── GoalID.h │ │ ├── GoalStatus.h │ │ └── GoalStatusArray.h │ ├── actionlib_tutorials │ │ ├── AveragingAction.h │ │ ├── AveragingActionFeedback.h │ │ ├── AveragingActionGoal.h │ │ ├── AveragingActionResult.h │ │ ├── AveragingFeedback.h │ │ ├── AveragingGoal.h │ │ ├── AveragingResult.h │ │ ├── FibonacciAction.h │ │ ├── FibonacciActionFeedback.h │ │ ├── FibonacciActionGoal.h │ │ ├── FibonacciActionResult.h │ │ ├── FibonacciFeedback.h │ │ ├── FibonacciGoal.h │ │ └── FibonacciResult.h │ ├── bond │ │ ├── Constants.h │ │ └── Status.h │ ├── control_msgs │ │ ├── FollowJointTrajectoryAction.h │ │ ├── FollowJointTrajectoryActionFeedback.h │ │ ├── FollowJointTrajectoryActionGoal.h │ │ ├── FollowJointTrajectoryActionResult.h │ │ ├── FollowJointTrajectoryFeedback.h │ │ ├── FollowJointTrajectoryGoal.h │ │ ├── FollowJointTrajectoryResult.h │ │ ├── GripperCommand.h │ │ ├── GripperCommandAction.h │ │ ├── GripperCommandActionFeedback.h │ │ ├── GripperCommandActionGoal.h │ │ ├── GripperCommandActionResult.h │ │ ├── GripperCommandFeedback.h │ │ ├── GripperCommandGoal.h │ │ ├── GripperCommandResult.h │ │ ├── JointControllerState.h │ │ ├── JointTolerance.h │ │ ├── JointTrajectoryAction.h │ │ ├── JointTrajectoryActionFeedback.h │ │ ├── JointTrajectoryActionGoal.h │ │ ├── JointTrajectoryActionResult.h │ │ ├── JointTrajectoryControllerState.h │ │ ├── JointTrajectoryFeedback.h │ │ ├── JointTrajectoryGoal.h │ │ ├── JointTrajectoryResult.h │ │ ├── PointHeadAction.h │ │ ├── PointHeadActionFeedback.h │ │ ├── PointHeadActionGoal.h │ │ ├── PointHeadActionResult.h │ │ ├── PointHeadFeedback.h │ │ ├── PointHeadGoal.h │ │ ├── PointHeadResult.h │ │ ├── QueryCalibrationState.h │ │ ├── QueryTrajectoryState.h │ │ ├── SingleJointPositionAction.h │ │ ├── SingleJointPositionActionFeedback.h │ │ ├── SingleJointPositionActionGoal.h │ │ ├── SingleJointPositionActionResult.h │ │ ├── SingleJointPositionFeedback.h │ │ ├── SingleJointPositionGoal.h │ │ └── SingleJointPositionResult.h │ ├── diagnostic_msgs │ │ ├── DiagnosticArray.h │ │ ├── DiagnosticStatus.h │ │ ├── KeyValue.h │ │ └── SelfTest.h │ ├── driver_base │ │ ├── ConfigString.h │ │ ├── ConfigValue.h │ │ └── SensorLevels.h │ ├── duration.cpp │ ├── dynamic_reconfigure │ │ ├── BoolParameter.h │ │ ├── Config.h │ │ ├── ConfigDescription.h │ │ ├── DoubleParameter.h │ │ ├── Group.h │ │ ├── GroupState.h │ │ ├── IntParameter.h │ │ ├── ParamDescription.h │ │ ├── Reconfigure.h │ │ ├── SensorLevels.h │ │ └── StrParameter.h │ ├── examples │ │ ├── ADC │ │ │ └── ADC.pde │ │ ├── Blink │ │ │ └── Blink.pde │ │ ├── BlinkM │ │ │ ├── BlinkM.pde │ │ │ └── BlinkM_funcs.h │ │ ├── Clapper │ │ │ └── Clapper.pde │ │ ├── HelloWorld │ │ │ ├── HelloWorld.pde │ │ │ └── main.cpp │ │ ├── IrRanger │ │ │ └── IrRanger.pde │ │ ├── Logging │ │ │ └── Logging.pde │ │ ├── Odom │ │ │ └── Odom.pde │ │ ├── ServiceClient │ │ │ ├── ServiceClient.pde │ │ │ └── client.py │ │ ├── ServiceServer │ │ │ └── ServiceServer.pde │ │ ├── ServoControl │ │ │ └── ServoControl.pde │ │ ├── Temperature │ │ │ └── Temperature.pde │ │ ├── TimeTF │ │ │ └── TimeTF.pde │ │ ├── Ultrasound │ │ │ └── Ultrasound.pde │ │ ├── button_example │ │ │ └── button_example.pde │ │ ├── cmd_vel │ │ │ └── main.cpp │ │ └── pubsub │ │ │ └── pubsub.pde │ ├── gazebo_msgs │ │ ├── ApplyBodyWrench.h │ │ ├── ApplyJointEffort.h │ │ ├── BodyRequest.h │ │ ├── ContactState.h │ │ ├── ContactsState.h │ │ ├── DeleteModel.h │ │ ├── GetJointProperties.h │ │ ├── GetLinkProperties.h │ │ ├── GetLinkState.h │ │ ├── GetModelProperties.h │ │ ├── GetModelState.h │ │ ├── GetPhysicsProperties.h │ │ ├── GetWorldProperties.h │ │ ├── JointRequest.h │ │ ├── LinkState.h │ │ ├── LinkStates.h │ │ ├── ModelState.h │ │ ├── ModelStates.h │ │ ├── ODEJointProperties.h │ │ ├── ODEPhysics.h │ │ ├── SetJointProperties.h │ │ ├── SetJointTrajectory.h │ │ ├── SetLinkProperties.h │ │ ├── SetLinkState.h │ │ ├── SetModelConfiguration.h │ │ ├── SetModelState.h │ │ ├── SetPhysicsProperties.h │ │ ├── SpawnModel.h │ │ └── WorldState.h │ ├── geometry_msgs │ │ ├── Accel.h │ │ ├── AccelStamped.h │ │ ├── AccelWithCovariance.h │ │ ├── AccelWithCovarianceStamped.h │ │ ├── Inertia.h │ │ ├── InertiaStamped.h │ │ ├── Point.h │ │ ├── Point32.h │ │ ├── PointStamped.h │ │ ├── Polygon.h │ │ ├── PolygonStamped.h │ │ ├── Pose.h │ │ ├── Pose2D.h │ │ ├── PoseArray.h │ │ ├── PoseStamped.h │ │ ├── PoseWithCovariance.h │ │ ├── PoseWithCovarianceStamped.h │ │ ├── Quaternion.h │ │ ├── QuaternionStamped.h │ │ ├── Transform.h │ │ ├── TransformStamped.h │ │ ├── Twist.h │ │ ├── TwistStamped.h │ │ ├── TwistWithCovariance.h │ │ ├── TwistWithCovarianceStamped.h │ │ ├── Vector3.h │ │ ├── Vector3Stamped.h │ │ ├── Wrench.h │ │ └── WrenchStamped.h │ ├── hector_mapping │ │ ├── HectorDebugInfo.h │ │ └── HectorIterData.h │ ├── hector_nav_msgs │ │ ├── GetDistanceToObstacle.h │ │ ├── GetNormal.h │ │ ├── GetRecoveryInfo.h │ │ ├── GetRobotTrajectory.h │ │ └── GetSearchPosition.h │ ├── laser_assembler │ │ ├── AssembleScans.h │ │ └── AssembleScans2.h │ ├── nav_msgs │ │ ├── GetMap.h │ │ ├── GetMapAction.h │ │ ├── GetMapActionFeedback.h │ │ ├── GetMapActionGoal.h │ │ ├── GetMapActionResult.h │ │ ├── GetMapFeedback.h │ │ ├── GetMapGoal.h │ │ ├── GetMapResult.h │ │ ├── GetPlan.h │ │ ├── GridCells.h │ │ ├── MapMetaData.h │ │ ├── OccupancyGrid.h │ │ ├── Odometry.h │ │ ├── Path.h │ │ └── SetMap.h │ ├── nodelet │ │ ├── NodeletList.h │ │ ├── NodeletLoad.h │ │ └── NodeletUnload.h │ ├── pcl_msgs │ │ ├── ModelCoefficients.h │ │ ├── PointIndices.h │ │ ├── PolygonMesh.h │ │ └── Vertices.h │ ├── polled_camera │ │ └── GetPolledImage.h │ ├── ros.h │ ├── ros │ │ ├── duration.h │ │ ├── msg.h │ │ ├── node_handle.h │ │ ├── publisher.h │ │ ├── round.h │ │ ├── service_client.h │ │ ├── service_server.h │ │ ├── subscriber.h │ │ └── time.h │ ├── ros_arduino_msgs │ │ ├── CmdDiffVel.h │ │ ├── Encoders.h │ │ └── RawImu.h │ ├── roscpp │ │ ├── Empty.h │ │ ├── GetLoggers.h │ │ ├── Logger.h │ │ └── SetLoggerLevel.h │ ├── roscpp_tutorials │ │ └── TwoInts.h │ ├── rosgraph_msgs │ │ ├── Clock.h │ │ ├── Log.h │ │ └── TopicStatistics.h │ ├── rospy_tutorials │ │ ├── AddTwoInts.h │ │ ├── BadTwoInts.h │ │ ├── Floats.h │ │ └── HeaderString.h │ ├── rosserial_arduino │ │ ├── Adc.h │ │ └── Test.h │ ├── rosserial_msgs │ │ ├── Log.h │ │ ├── RequestMessageInfo.h │ │ ├── RequestParam.h │ │ ├── RequestServiceInfo.h │ │ └── TopicInfo.h │ ├── sensor_msgs │ │ ├── BatteryState.h │ │ ├── CameraInfo.h │ │ ├── ChannelFloat32.h │ │ ├── CompressedImage.h │ │ ├── FluidPressure.h │ │ ├── Illuminance.h │ │ ├── Image.h │ │ ├── Imu.h │ │ ├── JointState.h │ │ ├── Joy.h │ │ ├── JoyFeedback.h │ │ ├── JoyFeedbackArray.h │ │ ├── LaserEcho.h │ │ ├── LaserScan.h │ │ ├── MagneticField.h │ │ ├── MultiDOFJointState.h │ │ ├── MultiEchoLaserScan.h │ │ ├── NavSatFix.h │ │ ├── NavSatStatus.h │ │ ├── PointCloud.h │ │ ├── PointCloud2.h │ │ ├── PointField.h │ │ ├── Range.h │ │ ├── RegionOfInterest.h │ │ ├── RelativeHumidity.h │ │ ├── SetCameraInfo.h │ │ ├── Temperature.h │ │ └── TimeReference.h │ ├── shape_msgs │ │ ├── Mesh.h │ │ ├── MeshTriangle.h │ │ ├── Plane.h │ │ └── SolidPrimitive.h │ ├── smach_msgs │ │ ├── SmachContainerInitialStatusCmd.h │ │ ├── SmachContainerStatus.h │ │ └── SmachContainerStructure.h │ ├── std_msgs │ │ ├── Bool.h │ │ ├── Byte.h │ │ ├── ByteMultiArray.h │ │ ├── Char.h │ │ ├── ColorRGBA.h │ │ ├── Duration.h │ │ ├── Empty.h │ │ ├── Float32.h │ │ ├── Float32MultiArray.h │ │ ├── Float64.h │ │ ├── Float64MultiArray.h │ │ ├── Header.h │ │ ├── Int16.h │ │ ├── Int16MultiArray.h │ │ ├── Int32.h │ │ ├── Int32MultiArray.h │ │ ├── Int64.h │ │ ├── Int64MultiArray.h │ │ ├── Int8.h │ │ ├── Int8MultiArray.h │ │ ├── MultiArrayDimension.h │ │ ├── MultiArrayLayout.h │ │ ├── String.h │ │ ├── Time.h │ │ ├── UInt16.h │ │ ├── UInt16MultiArray.h │ │ ├── UInt32.h │ │ ├── UInt32MultiArray.h │ │ ├── UInt64.h │ │ ├── UInt64MultiArray.h │ │ ├── UInt8.h │ │ └── UInt8MultiArray.h │ ├── std_srvs │ │ ├── Empty.h │ │ ├── SetBool.h │ │ └── Trigger.h │ ├── stereo_msgs │ │ └── DisparityImage.h │ ├── tests │ │ ├── array_test │ │ │ └── array_test.pde │ │ ├── float64_test │ │ │ └── float64_test.pde │ │ └── time_test │ │ │ └── time_test.pde │ ├── tf │ │ ├── FrameGraph.h │ │ ├── tf.h │ │ ├── tfMessage.h │ │ └── transform_broadcaster.h │ ├── tf2_msgs │ │ ├── FrameGraph.h │ │ ├── LookupTransformAction.h │ │ ├── LookupTransformActionFeedback.h │ │ ├── LookupTransformActionGoal.h │ │ ├── LookupTransformActionResult.h │ │ ├── LookupTransformFeedback.h │ │ ├── LookupTransformGoal.h │ │ ├── LookupTransformResult.h │ │ ├── TF2Error.h │ │ └── TFMessage.h │ ├── theora_image_transport │ │ └── Packet.h │ ├── time.cpp │ ├── topic_tools │ │ ├── DemuxAdd.h │ │ ├── DemuxDelete.h │ │ ├── DemuxList.h │ │ ├── DemuxSelect.h │ │ ├── MuxAdd.h │ │ ├── MuxDelete.h │ │ ├── MuxList.h │ │ └── MuxSelect.h │ ├── trajectory_msgs │ │ ├── JointTrajectory.h │ │ ├── JointTrajectoryPoint.h │ │ ├── MultiDOFJointTrajectory.h │ │ └── MultiDOFJointTrajectoryPoint.h │ ├── turtle_actionlib │ │ ├── ShapeAction.h │ │ ├── ShapeActionFeedback.h │ │ ├── ShapeActionGoal.h │ │ ├── ShapeActionResult.h │ │ ├── ShapeFeedback.h │ │ ├── ShapeGoal.h │ │ ├── ShapeResult.h │ │ └── Velocity.h │ ├── turtlebot3_msgs │ │ ├── SensorState.h │ │ ├── Sound.h │ │ └── VersionInfo.h │ ├── turtlesim │ │ ├── Color.h │ │ ├── Kill.h │ │ ├── Pose.h │ │ ├── SetPen.h │ │ ├── Spawn.h │ │ ├── TeleportAbsolute.h │ │ └── TeleportRelative.h │ └── visualization_msgs │ │ ├── ImageMarker.h │ │ ├── InteractiveMarker.h │ │ ├── InteractiveMarkerControl.h │ │ ├── InteractiveMarkerFeedback.h │ │ ├── InteractiveMarkerInit.h │ │ ├── InteractiveMarkerPose.h │ │ ├── InteractiveMarkerUpdate.h │ │ ├── Marker.h │ │ ├── MarkerArray.h │ │ └── MenuEntry.h ├── STM32F10x_StdPeriph_Driver │ ├── inc │ │ ├── misc.h │ │ ├── stm32f10x_adc.h │ │ ├── stm32f10x_bkp.h │ │ ├── stm32f10x_can.h │ │ ├── stm32f10x_cec.h │ │ ├── stm32f10x_crc.h │ │ ├── stm32f10x_dac.h │ │ ├── stm32f10x_dbgmcu.h │ │ ├── stm32f10x_dma.h │ │ ├── stm32f10x_exti.h │ │ ├── stm32f10x_flash.h │ │ ├── stm32f10x_fsmc.h │ │ ├── stm32f10x_gpio.h │ │ ├── stm32f10x_i2c.h │ │ ├── stm32f10x_iwdg.h │ │ ├── stm32f10x_pwr.h │ │ ├── stm32f10x_rcc.h │ │ ├── stm32f10x_rtc.h │ │ ├── stm32f10x_sdio.h │ │ ├── stm32f10x_spi.h │ │ ├── stm32f10x_tim.h │ │ ├── stm32f10x_usart.h │ │ └── stm32f10x_wwdg.h │ └── src │ │ ├── misc.c │ │ ├── stm32f10x_adc.c │ │ ├── stm32f10x_bkp.c │ │ ├── stm32f10x_can.c │ │ ├── stm32f10x_cec.c │ │ ├── stm32f10x_crc.c │ │ ├── stm32f10x_dac.c │ │ ├── stm32f10x_dbgmcu.c │ │ ├── stm32f10x_dma.c │ │ ├── stm32f10x_exti.c │ │ ├── stm32f10x_flash.c │ │ ├── stm32f10x_fsmc.c │ │ ├── stm32f10x_gpio.c │ │ ├── stm32f10x_i2c.c │ │ ├── stm32f10x_iwdg.c │ │ ├── stm32f10x_pwr.c │ │ ├── stm32f10x_rcc.c │ │ ├── stm32f10x_rtc.c │ │ ├── stm32f10x_sdio.c │ │ ├── stm32f10x_spi.c │ │ ├── stm32f10x_tim.c │ │ ├── stm32f10x_usart.c │ │ └── stm32f10x_wwdg.c ├── USB │ ├── STM32_USB-FS-Device_Driver │ │ ├── Release_Notes.html │ │ ├── inc │ │ │ ├── usb_core.h │ │ │ ├── usb_def.h │ │ │ ├── usb_init.h │ │ │ ├── usb_int.h │ │ │ ├── usb_lib.h │ │ │ ├── usb_mem.h │ │ │ ├── usb_regs.h │ │ │ ├── usb_sil.h │ │ │ └── usb_type.h │ │ └── src │ │ │ ├── usb_core.c │ │ │ ├── usb_init.c │ │ │ ├── usb_int.c │ │ │ ├── usb_mem.c │ │ │ ├── usb_regs.c │ │ │ └── usb_sil.c │ └── Virtual_COM_Port │ │ ├── inc │ │ ├── hw_config.h │ │ ├── platform_config.h │ │ ├── usb_conf.h │ │ ├── usb_desc.h │ │ ├── usb_istr.h │ │ ├── usb_it.h │ │ ├── usb_prop.h │ │ └── usb_pwr.h │ │ ├── readme.txt │ │ └── src │ │ ├── hw_config.c │ │ ├── usb_desc.c │ │ ├── usb_endp.c │ │ ├── usb_istr.c │ │ ├── usb_it.c │ │ ├── usb_prop.c │ │ └── usb_pwr.c └── eMPL │ ├── dmpKey.h │ ├── dmpmap.h │ ├── inv_mpu.c │ ├── inv_mpu.h │ ├── inv_mpu_dmp_motion_driver.c │ └── inv_mpu_dmp_motion_driver.h ├── Project ├── EventRecorderStub.scvd ├── JLinkLog.txt ├── JLinkSettings.ini └── STM32F1_ROS.uvprojx ├── User ├── config.h ├── main.cpp ├── main.h ├── motor_output.c ├── motor_output.h ├── pid.c 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