├── .gitignore ├── Doxyfile ├── README.md ├── autorally ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── autorally_control ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ ├── PathIntegralParams.cfg │ └── gpsWaypoint_params.cfg ├── include │ └── autorally_control │ │ ├── ddp │ │ ├── boxqp.h │ │ ├── ddp.h │ │ ├── ddp_costs.h │ │ ├── ddp_dynamics.h │ │ ├── ddp_model_wrapper.h │ │ ├── ddp_tracking_costs.h │ │ ├── result.h │ │ └── util.h │ │ ├── path_integral │ │ ├── autorally_plant.h │ │ ├── car_bfs.cuh │ │ ├── car_kinematics.cuh │ │ ├── costs.cu │ │ ├── costs.cuh │ │ ├── debug_kernels.cuh │ │ ├── generalized_linear.cu │ │ ├── generalized_linear.cuh │ │ ├── gpu_err_chk.h │ │ ├── managed.cuh │ │ ├── meta_math.h │ │ ├── mppi.cu │ │ ├── mppi.cuh │ │ ├── mppi_controller.cu │ │ ├── mppi_controller.cuh │ │ ├── neural_net_model.cu │ │ ├── neural_net_model.cuh │ │ ├── param_getter.h │ │ ├── run_control_loop.cuh │ │ └── status_monitor.h │ │ └── placeholder.txt ├── launch │ ├── constantSpeedController.launch │ ├── gpsImuEstimator.launch │ ├── joystickController.launch │ ├── path_integral_bf.launch │ ├── path_integral_nn.launch │ ├── path_integral_nodelet.launch │ ├── recordWpts.launch │ ├── waypointFollower.launch │ └── waypoints ├── nodelet_plugins.xml ├── package.xml └── src │ ├── ConstantSpeedController │ ├── CMakeLists.txt │ ├── ConstantSpeedController.cpp │ └── ConstantSpeedController.h │ ├── gpsWaypoint │ ├── CMakeLists.txt │ ├── GenerateWaypoints │ ├── gpsWaypoint.cpp │ └── gpsWaypoint.h │ ├── joystick │ ├── CMakeLists.txt │ ├── JoystickControl.cpp │ ├── JoystickControl.h │ └── joystickControlMain.cpp │ └── path_integral │ ├── CMakeLists.txt │ ├── autorally_plant.cpp │ ├── mppi_nodelet.cu │ ├── param_getter.cpp │ ├── params │ ├── maps │ │ ├── README.md │ │ ├── ccrf │ │ │ └── ccrf_track.npz │ │ ├── ccrf_costmap_09_29_2017.npz │ │ ├── gazebo │ │ │ └── gazebo_map.npz │ │ ├── gazebo_costmap_05_22_2016.npz │ │ ├── marietta_costmap_07_25_2019.npz │ │ ├── marietta_costmap_09_08_2018.npz │ │ └── marietta_costmap_12_06_2015.npz │ └── models │ │ ├── README.md │ │ ├── autorally_nnet_09_12_2018.npz │ │ ├── basis_function_09_12_2018.npz │ │ └── gazebo_nnet_09_12_2018.npz │ ├── path_integral_main.cu │ ├── scripts │ ├── lap_stats.py │ ├── track_converter.py │ └── track_generator.py │ └── status_monitor.cpp ├── autorally_core ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ ├── camera_auto_balance_params.cfg │ └── camera_trigger_params.cfg ├── include │ └── autorally_core │ │ ├── Diagnostics.h │ │ ├── PololuMaestro.h │ │ ├── RingBuffer.h │ │ ├── SafeSpeed.h │ │ ├── SerialCommon.h │ │ ├── SerialInterfaceThreaded.h │ │ └── SerialSensorInterface.h ├── launch │ ├── arduinoOnboard.launch │ ├── autorally.launch │ ├── autorally_chassis.launch │ ├── autorally_core_manager.launch │ ├── autorally_imu_3dm_gx4.launch │ ├── baseStation.launch │ ├── camera_auto_balance_flir.launch │ ├── camera_auto_balance_ptgrey.launch │ ├── camera_flir.launch │ ├── camera_ptgrey.launch │ ├── camera_trigger.launch │ ├── cameras.launch │ ├── chronyStatus.launch │ ├── flir_default_dynconfig.yaml │ ├── gpsBase.launch │ ├── gpsRover.launch │ ├── hardware.machine │ ├── ocs.launch │ ├── robot.urdf │ ├── runStop.launch │ ├── servoInterface.launch │ ├── stateEstimator.launch │ ├── systemStatus.launch │ ├── wheel_odometry.launch │ ├── xbeeCoordinator.launch │ └── xbeeNode.launch ├── nodelet_plugins.xml ├── package.xml ├── setup.py ├── src │ ├── CameraAutoBalance │ │ ├── CMakeLists.txt │ │ ├── CameraAdjuster.h │ │ ├── CameraAutoBalance.cpp │ │ ├── CameraAutoBalance.h │ │ ├── CameraAutoBalanceFLIR.cpp │ │ ├── CameraAutoBalancePtGrey.cpp │ │ ├── FlycaptureAdjuster.cpp │ │ ├── FlycaptureAdjuster.h │ │ ├── SpinnakerAdjuster.cpp │ │ └── SpinnakerAdjuster.h │ ├── Diagnostics │ │ ├── CMakeLists.txt │ │ └── Diagnostics.cpp │ ├── ImageRepublisher │ │ ├── CMakeLists.txt │ │ ├── ImageRepublisher.cpp │ │ └── ImageRepublisher.h │ ├── RingBuffer │ │ ├── CMakeLists.txt │ │ └── RingBuffer.cpp │ ├── RunStop │ │ ├── CMakeLists.txt │ │ ├── RunStop.cpp │ │ ├── RunStop.h │ │ ├── RunStop │ │ │ └── RunStop.ino │ │ └── RunStop_teensy │ │ │ └── RunStop_teensy.ino │ ├── SafeSpeed │ │ ├── CMakeLists.txt │ │ └── SafeSpeed.cpp │ ├── SerialSensorInterface │ │ ├── CMakeLists.txt │ │ ├── SerialCommon.cpp │ │ ├── SerialInterfaceThreaded.cpp │ │ └── SerialSensorInterface.cpp │ ├── StateEstimator │ │ ├── BlockingQueue.h │ │ ├── CMakeLists.txt │ │ ├── StateEstimator.cpp │ │ └── StateEstimator.h │ ├── WheelOdometry │ │ ├── CMakeLists.txt │ │ ├── wheel_odometry.cpp │ │ └── wheel_odometry.h │ ├── autorally_chassis │ │ ├── AutoRallyChassis.cpp │ │ ├── AutoRallyChassis.h │ │ ├── CMakeLists.txt │ │ └── autorally_chassis │ │ │ └── autorally_chassis.ino │ ├── camera_trigger │ │ ├── CMakeLists.txt │ │ ├── CameraTrigger.cpp │ │ ├── CameraTrigger.h │ │ ├── camera_trigger │ │ │ └── camera_trigger.ino │ │ └── camera_trigger_teensy │ │ │ └── camera_trigger_teensy.ino │ ├── chronyStatus │ │ ├── __init__.py │ │ └── chronyStatus.py │ ├── gps │ │ ├── CMakeLists.txt │ │ ├── GPSHemisphere.cpp │ │ └── GPSHemisphere.h │ ├── ocs │ │ ├── CMakeLists.txt │ │ ├── DiagnosticsEntry.cpp │ │ ├── DiagnosticsEntry.hpp │ │ ├── ImageMaskEntry.cpp │ │ ├── ImageMaskEntry.hpp │ │ ├── main.cpp │ │ ├── main_window.cpp │ │ ├── main_window.hpp │ │ ├── main_window.ui │ │ ├── qnode.cpp │ │ ├── qnode.hpp │ │ └── resources │ │ │ ├── images.qrc │ │ │ ├── images.qrc.depends │ │ │ └── images │ │ │ ├── autorally.png │ │ │ └── camera.png │ ├── systemStatus │ │ ├── __init__.py │ │ └── systemStatus.py │ └── xbee │ │ ├── CMakeLists.txt │ │ ├── XbeeCoordinator.cpp │ │ ├── XbeeCoordinator.h │ │ ├── XbeeInterface.cpp │ │ ├── XbeeInterface.h │ │ ├── XbeeNode.cpp │ │ └── XbeeNode.h └── test │ ├── CMakeLists.txt │ ├── diagnosticsTest.cpp │ ├── pololuMicroMaestroTest.cpp │ └── serialSensorInterfaceTest.cpp ├── autorally_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE.md ├── launch │ ├── autoRallyPlatform.launch │ ├── autoRallyPlatformRviz.launch │ └── rviz.launch ├── package.xml └── urdf │ ├── autoRallyPlatform.urdf.xacro │ ├── cad │ ├── Vehicle_Texture.dae │ ├── autoRallyPlatform.stl │ ├── autoRallyPlatformFrontWheel.stl │ ├── autoRallyPlatformFrontWheelTextured.dae │ ├── autoRallyPlatformRearWheel.stl │ ├── autoRallyPlatformRearWheelTextured.dae │ ├── autoRallyTrack.dae │ ├── autoRallyTrack.stl │ ├── autoRallyTrackCCRF.dae │ ├── bamboo_leaves.dae │ ├── bush.dae │ ├── fence.dae │ ├── jump18deg.dae │ ├── jump18deg.stl │ ├── jump22deg.dae │ ├── jump22deg.stl │ ├── jump26deg.dae │ ├── jump26deg.stl │ ├── jump30deg.dae │ ├── jump30deg.stl │ ├── shed_edges.dae │ ├── shed_outer.dae │ └── tree.dae │ ├── gazebo.material │ ├── jump18deg.urdf │ ├── jump22deg.urdf │ ├── jump26deg.urdf │ ├── jump30deg.urdf │ ├── models │ ├── bamboo │ │ ├── model.config │ │ └── model.sdf │ ├── blended_track │ │ ├── model-1_2.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── blended_track_ccrf │ │ ├── model.config │ │ └── model.sdf │ ├── bush │ │ ├── model.config │ │ └── model.sdf │ ├── dirt_plane │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── fence │ │ ├── model.config │ │ └── model.sdf │ ├── grass_plane │ │ ├── model-1_2.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── ground_plane │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── jump18deg │ │ ├── model.config │ │ └── model.sdf │ ├── jump22deg │ │ ├── model.config │ │ └── model.sdf │ ├── jump26deg │ │ ├── model.config │ │ └── model.sdf │ ├── jump30deg │ │ ├── model.config │ │ └── model.sdf │ ├── shed │ │ ├── model.config │ │ └── model.sdf │ ├── sun │ │ ├── model-1_2.sdf │ │ ├── model-1_3.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── track │ │ ├── model.config │ │ └── model.sdf │ ├── track_ccrf │ │ ├── model.config │ │ └── model.sdf │ └── tree │ │ ├── model.config │ │ └── model.sdf │ ├── textures │ ├── Car_Texture.jpg │ ├── Wheel_Texture.jpg │ ├── bamboo.jpg │ ├── blended_texture_ccrf.png │ ├── blended_texture_marietta.png │ ├── ground_dirt_texture.jpg │ ├── ground_grass_texture.jpg │ └── leaf-veins.jpg │ └── worlds │ ├── ccrf_track.world │ ├── empty_sky_AR.world │ ├── jump_AR.world │ └── populated_marietta.world ├── autorally_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE.md ├── config │ ├── autoRallyPlatformCtrlrParams.yaml │ └── autoRallyPlatformJointCtrlrParams.yaml ├── launch │ ├── autoRallyJumpGazeboSim.launch │ ├── autoRallyJumpWorld.launch │ ├── autoRallyTrackCCRFGazeboSim.launch │ ├── autoRallyTrackCCRFWorld.launch │ ├── autoRallyTrackGazeboSim.launch │ ├── autoRallyTrackMultipleCarsGazeboSim.launch │ ├── autoRallyTrackWorld.launch │ └── singlePlatform.launch ├── nodes │ ├── autorally_controller.py │ └── ground_truth_republisher.py ├── package.xml └── setup.py ├── autorally_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── chassisCommand.msg │ ├── chassisState.msg │ ├── imageMask.msg │ ├── lapStats.msg │ ├── line2D.msg │ ├── neuralNetLayer.msg │ ├── neuralNetModel.msg │ ├── pathIntegralParams.msg │ ├── pathIntegralStats.msg │ ├── pathIntegralStatus.msg │ ├── pathIntegralTiming.msg │ ├── point2D.msg │ ├── runstop.msg │ ├── stateEstimatorStatus.msg │ └── wheelSpeeds.msg └── package.xml ├── autorally_util ├── 99-autoRally.rules ├── CHANGELOG.rst ├── CMakeLists.txt ├── chronyClient.conf ├── chronyServer.conf ├── config │ ├── arChassisConfig_CHASSIS_NAME.yaml │ ├── camera_calibration_GUID.yaml │ ├── chassisCommandPriorities.yaml │ └── throttlePositionCalibration.yaml ├── package.xml ├── roscoreAutostart.sh ├── setCameraPermissions.sh ├── setupEnvLocal.sh ├── setupEnvLocal.zsh ├── setupEnvRemote.sh ├── setupEnvRemote.zsh └── setupEnvVariables.sh ├── doc ├── autorally.png ├── autorally_repo.jpg └── chrony_screenshot.png └── mainpage.dox /.gitignore: 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