├── .clang-format ├── .gitignore ├── .gitmodules ├── .travis.yml ├── CPP_STYLE_GUIDE.md ├── Doxyfile ├── GPLv3.LICENSE ├── MIT.LICENSE ├── README.md ├── doc ├── logo.png ├── mainpage.dox ├── racing_example.gif └── racing_example_real.gif ├── ros_ws ├── launch │ ├── car_evolutionary.launch │ ├── car_navigation_stack.launch │ ├── car_wallfollowing.launch │ ├── evolutionary.launch │ ├── gazebo.launch │ ├── navigation_stack.launch │ ├── policy_gradient.launch │ └── q_learning.launch └── src │ ├── autonomous │ ├── emergency_stop │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── emergency_stop.cfg │ │ ├── include │ │ │ ├── emergency_stop.h │ │ │ └── rviz_geometry_publisher.h │ │ ├── launch │ │ │ └── emergency_stop.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── emergency_stop.cpp │ │ │ └── rviz_geometry_publisher.cpp │ ├── evolutionary │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── autonomous_driving.launch │ │ │ └── evolutionary_training.launch │ │ ├── package.xml │ │ └── scripts │ │ │ ├── neural_car_driver.py │ │ │ └── train.py │ ├── reinforcement_learning │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── drive_policy_gradient.launch │ │ │ ├── drive_q_learning.launch │ │ │ ├── train_policy_gradient.launch │ │ │ └── train_q_learning.launch │ │ ├── msg │ │ │ └── EpisodeResult.msg │ │ ├── package.xml │ │ └── scripts │ │ │ ├── drive_policy_gradient.py │ │ │ ├── drive_q_learning.py │ │ │ ├── parameters_policy_gradient.py │ │ │ ├── parameters_q_learning.py │ │ │ ├── plotter.py │ │ │ ├── reinforcement_learning_node.py │ │ │ ├── topics.py │ │ │ ├── train_policy_gradient.py │ │ │ ├── train_q_learning.py │ │ │ └── training_node.py │ ├── wallfollowing1 │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ │ └── wallfollowing1.cfg │ │ ├── include │ │ │ ├── pid_controller.h │ │ │ ├── rviz_geometry_publisher.h │ │ │ ├── wall.h │ │ │ └── wall_following.h │ │ ├── launch │ │ │ └── autonomous_driving.launch │ │ ├── package.xml │ │ └── src │ │ │ ├── pid_controller.cpp │ │ │ ├── rviz_geometry_publisher.cpp │ │ │ ├── wall.cpp │ │ │ └── wall_following.cpp │ └── wallfollowing2 │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ ├── fast.yaml │ │ ├── physical.yaml │ │ └── wallfollowing2.cfg │ │ ├── launch │ │ ├── autonomous_driving.launch │ │ └── autonomous_driving_physical.launch │ │ ├── package.xml │ │ └── script │ │ ├── circle.py │ │ ├── rviz_geometry.py │ │ └── wallfollowing.py │ ├── car_control │ ├── CMakeLists.txt │ ├── include │ │ ├── car_controller.h │ │ ├── dms_controller.h │ │ ├── drive_mode.h │ │ ├── drive_parameters_multiplexer.h │ │ └── drive_parameters_source.h │ ├── launch │ │ ├── car.rviz │ │ └── car_control.launch │ ├── package.xml │ ├── src │ │ ├── car_controller.cpp │ │ ├── dms_controller.cpp │ │ ├── drive_parameters_multiplexer.cpp │ │ └── drive_parameters_source.cpp │ └── test │ │ └── test_car_control.cpp │ ├── car_tf │ ├── CMakeLists.txt │ ├── include │ │ └── laserscan_transformer.h │ ├── launch │ │ └── car_transformer.launch │ ├── package.xml │ └── src │ │ ├── laserscan_transformer.cpp │ │ └── main.cpp │ ├── drive_msgs │ ├── CMakeLists.txt │ ├── msg │ │ └── drive_param.msg │ └── package.xml │ ├── hardware │ ├── CMakeLists.txt │ ├── launch │ │ └── static_wheel_publisher.launch │ ├── package.xml │ └── razor_imu_config.yaml │ ├── navigation_stack │ ├── car_cartographer │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── cartographer_config.lua │ │ │ └── cartographer_config_assets_writer.lua │ │ ├── files │ │ │ └── .gitkeep │ │ ├── launch │ │ │ ├── cartographer_make_map.launch │ │ │ ├── cartographer_offline.launch │ │ │ ├── cartographer_offline_fast.launch │ │ │ └── cartographer_online.launch │ │ └── package.xml │ ├── navigation_stack_config │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── amcl_params.yaml │ │ │ ├── base_local_planner_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ └── local_costmap_params.yaml │ │ ├── launch │ │ │ ├── amcl_diff.launch │ │ │ ├── move_base.launch │ │ │ └── navigation_stack.rviz │ │ ├── maps │ │ │ ├── recording.bag.pgm │ │ │ └── recording.bag.yaml │ │ └── package.xml │ └── navigation_stack_control_converter │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── navigation_stack_control_converter.h │ │ ├── launch │ │ └── navigation_stack_control_converter.launch │ │ ├── package.xml │ │ └── src │ │ ├── main.cpp │ │ └── navigation_stack_control_converter.cpp │ ├── simulation │ ├── racer_control │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── racer_config.yaml │ │ ├── launch │ │ │ └── racer_control.launch │ │ └── package.xml │ ├── racer_description │ │ ├── CMakeLists.txt │ │ ├── meshes │ │ │ ├── ZED LICENSE │ │ │ ├── ZED.dae │ │ │ ├── body.dae │ │ │ ├── car.dae │ │ │ ├── hokuyo.dae │ │ │ └── wheel.dae │ │ ├── package.xml │ │ └── urdf │ │ │ ├── racer.xacro │ │ │ ├── racer_macros.xacro │ │ │ └── racer_plugins.gazebo │ ├── racer_world │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── racer_gazebo.launch │ │ │ └── rviz_config.rviz │ │ ├── meshes │ │ │ ├── decoration_colliders.dae │ │ │ ├── decoration_colliders_2.dae │ │ │ ├── track.dae │ │ │ ├── track_decorated.dae │ │ │ ├── track_decorated_2.dae │ │ │ └── walls.dae │ │ ├── package.xml │ │ └── worlds │ │ │ ├── racer_empty.world │ │ │ ├── racetrack.world │ │ │ ├── racetrack_decorated.world │ │ │ ├── racetrack_decorated_2.world │ │ │ └── racetrack_decorated_2_big.world │ ├── simulation_tools │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── chase_cam.h │ │ │ └── crash_detector.h │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ ├── chase_cam.cpp │ │ │ ├── crash_detector.cpp │ │ │ └── simulation_tools │ │ │ ├── __init__.py │ │ │ ├── lap_timer.py │ │ │ ├── plot_path.py │ │ │ ├── reset_car.py │ │ │ ├── speedometer.py │ │ │ ├── track.py │ │ │ └── track_geometry.py │ └── vesc_sim │ │ ├── CMakeLists.txt │ │ ├── config │ │ └── car_config.yaml │ │ ├── include │ │ ├── car_config.h │ │ ├── vesc_sim.h │ │ └── vesc_sim_driver.h │ │ ├── launch │ │ └── vesc_sim.launch │ │ ├── package.xml │ │ └── 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