├── .gitignore ├── Doc ├── ZimaDemo1.jpg ├── ZimaDemo2.jpg └── ZimaSDK框架.png ├── LICENSE ├── README.md ├── calc.bat ├── zima_base ├── CMakeLists.txt ├── README.md ├── build.sh ├── json_config │ ├── zima_arm_dev_gazebo_config.json │ ├── zima_dev_gazebo_config.json │ └── zima_kobuki_config.json ├── src │ ├── main.cpp │ ├── zima_json_test.cpp │ ├── zima_kobuki_checker.cpp │ ├── zima_lock_test.cpp │ ├── zima_map_checker.cpp │ ├── zima_map_test.cpp │ ├── zima_math_test.cpp │ ├── zima_serial_test.cpp │ ├── zima_thread_test.cpp │ └── zima_time_test.cpp └── zima │ ├── algorithm │ └── slam │ │ ├── slam_base.cpp │ │ ├── slam_base.h │ │ ├── slam_base_config.cpp │ │ └── slam_base_config.h │ ├── common │ ├── boundingbox.h │ ├── config.cpp │ ├── config.h │ ├── debug.cpp │ ├── debug.h │ ├── gflags.cpp │ ├── gflags.h │ ├── json.cpp │ ├── json.h │ ├── lock.cpp │ ├── lock.h │ ├── macro.h │ ├── marker_points.cpp │ ├── marker_points.h │ ├── maths.cpp │ ├── maths.h │ ├── nlohmann_json.hpp │ ├── point_cell.cpp │ ├── point_cell.h │ ├── point_cloud.cpp │ ├── point_cloud.h │ ├── ratio_sampler.cpp │ ├── ratio_sampler.h │ ├── steps_recorder.cpp │ ├── steps_recorder.h │ ├── thread.cpp │ ├── thread.h │ ├── time.cpp │ ├── time.h │ ├── transform.cpp │ ├── transform.h │ ├── util.cpp │ ├── util.h │ └── vector2.h │ ├── device │ ├── battery.cpp │ ├── battery.h │ ├── bumper.cpp │ ├── bumper.h │ ├── button.cpp │ ├── button.h │ ├── cliff_sensor.cpp │ ├── cliff_sensor.h │ ├── device.cpp │ ├── device.h │ ├── device_config.cpp │ ├── device_config.h │ ├── device_manager.cpp │ ├── device_manager.h │ ├── gyro.cpp │ ├── gyro.h │ ├── lidar.cpp │ ├── lidar.h │ ├── wall_sensor.cpp │ ├── wall_sensor.h │ ├── wheel.cpp │ └── wheel.h │ ├── grid_map │ ├── grid_map_config.cpp │ ├── grid_map_config.h │ ├── map_2d.cpp │ ├── map_2d.h │ ├── multi_layers_map_2d.cpp │ ├── multi_layers_map_2d.h │ ├── nav_map_2d.cpp │ └── nav_map_2d.h │ ├── hal │ ├── chassis │ │ ├── kobuki │ │ │ ├── chassis.cpp │ │ │ ├── chassis.h │ │ │ ├── protocal.cpp │ │ │ └── protocal.h │ │ └── xtark │ │ │ ├── chassis.cpp │ │ │ ├── chassis.h │ │ │ ├── protocal.cpp │ │ │ └── protocal.h │ ├── io │ │ ├── serial.cpp │ │ └── serial.h │ └── system │ │ ├── cmd_line.cpp │ │ ├── cmd_line.h │ │ ├── cpu.cpp │ │ ├── cpu.h │ │ ├── file.cpp │ │ ├── file.h │ │ ├── keyboard_listener.cpp │ │ ├── keyboard_listener.h │ │ ├── process.cpp │ │ └── process.h │ ├── logger │ └── logger.h │ ├── motion │ ├── encircle_map_edge_motion.cpp │ ├── encircle_map_edge_motion.h │ ├── encircle_obstacle_motion.cpp │ ├── encircle_obstacle_motion.h │ ├── motion.cpp │ ├── motion.h │ ├── motion_config.cpp │ ├── motion_config.h │ ├── move_forward_motion.cpp │ ├── move_forward_motion.h │ ├── retreat_motion.cpp │ ├── retreat_motion.h │ ├── rotate_motion.cpp │ ├── rotate_motion.h │ ├── trace_path_motion.cpp │ └── trace_path_motion.h │ ├── movement │ ├── encircle_map_edge_movement.cpp │ ├── encircle_map_edge_movement.h │ ├── encircle_obstacle_movement.cpp │ ├── encircle_obstacle_movement.h │ ├── movement.cpp │ ├── movement.h │ ├── movement_config.cpp │ ├── movement_config.h │ ├── trace_path_movement.cpp │ └── trace_path_movement.h │ ├── proto │ ├── map.proto │ ├── test_clean_map.pb.txt │ ├── test_map.pb.txt │ ├── test_room_room_map.pb.txt │ ├── test_room_sensor_map.pb.txt │ └── test_slam_value_map.pb.txt │ ├── robot │ ├── chassis.cpp │ ├── chassis.h │ ├── chassis_controller.cpp │ ├── chassis_controller.h │ ├── robot_config.cpp │ └── robot_config.h │ ├── simulator │ ├── simulator.cpp │ └── simulator.h │ ├── zima_base_version.cpp │ ├── zima_base_version.h │ └── zima_base_version_hash.h ├── zima_core ├── CMakeLists.txt ├── README.md ├── build.sh ├── docs │ └── SoftwareComponents.md ├── src │ ├── main.cpp │ ├── zima_auto_cleaning_mode_test.cpp │ ├── zima_line_segment_test.cpp │ ├── zima_matcher_test.cpp │ ├── zima_nav_data_checker.cpp │ ├── zima_path_planner_test.cpp │ ├── zima_pose_interpolator_test.cpp │ └── zima_probability_map_test.cpp └── zima │ ├── algorithm │ ├── algorithm_config.cpp │ ├── algorithm_config.h │ ├── dijkstra.cpp │ ├── dijkstra.h │ ├── line_segment_extractor.cpp │ ├── line_segment_extractor.h │ ├── point_cloud_matcher.cpp │ ├── point_cloud_matcher.h │ ├── pose_interpolator.cpp │ ├── pose_interpolator.h │ └── slam │ │ ├── probability_map.cpp │ │ ├── probability_map.h │ │ ├── simple_slam.cpp │ │ └── simple_slam.h │ ├── auto_cleaning │ ├── auto_cleaning.cpp │ ├── auto_cleaning.h │ ├── auto_scan_house.cpp │ ├── auto_scan_house.h │ ├── delemma_handler.cpp │ ├── delemma_handler.h │ ├── house_cleaning.cpp │ ├── house_cleaning.h │ ├── house_scanning.cpp │ ├── house_scanning.h │ ├── room_cleaning.cpp │ ├── room_cleaning.h │ ├── section_cleaning.cpp │ └── section_cleaning.h │ ├── event │ ├── common_notice.cpp │ ├── common_notice.h │ ├── event_base.h │ ├── event_manager.cpp │ ├── event_manager.h │ ├── user_event.cpp │ └── user_event.h │ ├── grid_map │ ├── map_util.cpp │ └── map_util.h │ ├── mode │ ├── auto_cleaning_mode.cpp │ ├── auto_cleaning_mode.h │ ├── auto_cleaning_mode_event_wrapper.cpp │ ├── auto_cleaning_mode_event_wrapper.h │ ├── auto_scan_house_mode.cpp │ ├── auto_scan_house_mode.h │ ├── auto_scan_house_mode_event_wrapper.cpp │ ├── auto_scan_house_mode_event_wrapper.h │ ├── mode_base.cpp │ ├── mode_base.h │ ├── mode_config.cpp │ ├── mode_config.h │ ├── mode_event_wrapper_base.cpp │ ├── mode_event_wrapper_base.h │ ├── mode_switcher.cpp │ ├── mode_switcher.h │ ├── pause_mode.cpp │ ├── pause_mode.h │ ├── pause_mode_event_wrapper.cpp │ ├── pause_mode_event_wrapper.h │ ├── standby_mode.cpp │ ├── standby_mode.h │ ├── standby_mode_event_wrapper.cpp │ └── standby_mode_event_wrapper.h │ ├── path_planner │ ├── edge_path_planner.cpp │ ├── edge_path_planner.h │ ├── path_planner.cpp │ ├── path_planner.h │ ├── quick_scan_house_path_planner.cpp │ ├── quick_scan_house_path_planner.h │ ├── return_home_planner.cpp │ ├── return_home_planner.h │ ├── switch_room_section_planner.cpp │ ├── switch_room_section_planner.h │ ├── zigzag_path_planner.cpp │ └── zigzag_path_planner.h │ ├── proto │ ├── nav_data.proto │ ├── operation_data.proto │ └── probability_map.proto │ ├── robot_data │ ├── cleaning_record.cpp │ ├── cleaning_record.h │ ├── local_nav_data.cpp │ ├── local_nav_data.h │ ├── nav_data.cpp │ ├── nav_data.h │ ├── operation_data.cpp │ ├── operation_data.h │ ├── operation_data_manager.cpp │ ├── operation_data_manager.h │ ├── robot_data_config.cpp │ └── robot_data_config.h │ ├── zima_core_version.cpp │ ├── zima_core_version.h │ └── zima_core_version_hash.h ├── zima_gazebo ├── CMakeLists.txt ├── README.md ├── launch │ ├── empty_world.launch │ ├── gazebo.launch │ ├── spawn.launch │ ├── teleop.launch │ ├── view_model.launch │ └── world.launch ├── package.xml ├── robot │ ├── controller │ │ └── controller.yaml │ └── urdf │ │ ├── common_properties.urdf.xacro │ │ ├── config.urdf.xacro │ │ ├── zima_gazebo.urdf.xacro │ │ └── zima_gazebo_robot.urdf.xacro ├── rviz │ └── model.rviz └── worlds │ ├── 4room_1.world │ └── models │ ├── 4room_1 │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_AirconditionerB_01 │ ├── materials │ │ └── textures │ │ │ └── aws_AirconditionerB_01.png │ ├── meshes │ │ ├── aws_AirconditionerB_01_collision.DAE │ │ └── aws_AirconditionerB_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_Bed_01 │ ├── materials │ │ └── textures │ │ │ ├── aws_BedA_01.png │ │ │ ├── aws_BedB_01.png │ │ │ ├── aws_BedC_01.png │ │ │ └── aws_Bed_01.png │ ├── meshes │ │ ├── aws_Bed_01_collision.DAE │ │ └── aws_Bed_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_ChairA_01 │ ├── materials │ │ └── textures │ │ │ └── aws_ChairA_01.png │ ├── meshes │ │ ├── aws_ChairA_01_collision.DAE │ │ └── aws_ChairA_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_ChairD_01 │ ├── materials │ │ └── textures │ │ │ └── aws_ChairD_01.png │ ├── meshes │ │ ├── aws_ChairD_01_collision.DAE │ │ └── aws_ChairD_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_CoffeeTable_01 │ ├── materials │ │ └── textures │ │ │ └── aws_CoffeeTable_01.png │ ├── meshes │ │ ├── aws_CoffeeTable_01_collision.DAE │ │ └── aws_CoffeeTable_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_CookingBench_01 │ ├── materials │ │ └── textures │ │ │ └── aws_CookingBench_01.png │ ├── meshes │ │ ├── aws_CookingBench_01.DAE │ │ ├── aws_CookingBench_01_collision.DAE │ │ └── aws_CookingBench_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_Curtain_01 │ ├── materials │ │ └── textures │ │ │ └── aws_Curtain_01.png │ ├── meshes │ │ ├── aws_Curtain_01_collision.DAE │ │ └── aws_Curtain_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_Door_01 │ ├── materials │ │ └── textures │ │ │ └── aws_Door_01.png │ ├── meshes │ │ ├── aws_Door_01_collision.DAE │ │ └── aws_Door_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_FitnessEquipment_01 │ ├── materials │ │ └── textures │ │ │ └── aws_FitnessEquipment_01.png │ ├── meshes │ │ ├── aws_FitnessEquipment_01_collision.DAE │ │ └── aws_FitnessEquipment_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_KitchenCabinet_01 │ ├── materials │ │ └── textures │ │ │ └── aws_KitchenCabinet_01.png │ ├── meshes │ │ ├── aws_KitchenCabinet_01_collision.DAE │ │ └── aws_KitchenCabinet_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_KitchenTable_01 │ ├── materials │ │ └── textures │ │ │ └── aws_KitchenTable_01.png │ ├── meshes │ │ ├── aws_KitchenTable_01_collision.DAE │ │ └── aws_KitchenTable_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_NightStand_01 │ ├── materials │ │ └── textures │ │ │ └── aws_NightStand_01.png │ ├── meshes │ │ ├── aws_NightStand_01_collision.DAE │ │ └── aws_NightStand_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_ReadingDesk_01 │ ├── materials │ │ └── textures │ │ │ └── aws_ReadingDesk_01.png │ ├── meshes │ │ ├── aws_ReadingDesk_01_collision.DAE │ │ └── aws_ReadingDesk_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_Refrigerator_01 │ ├── materials │ │ └── textures │ │ │ ├── aws_Refrigerator_01.png │ │ │ └── aws_Refrigerator_02.png │ ├── meshes │ │ ├── aws_Refrigerator_01.DAE │ │ ├── aws_Refrigerator_01_collision.DAE │ │ └── aws_Refrigerator_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_SofaB_01 │ ├── materials │ │ └── textures │ │ │ └── aws_SofaB_01.png │ ├── meshes │ │ ├── aws_SofaB_01_collision.DAE │ │ └── aws_SofaB_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_SofaC_01 │ ├── materials │ │ └── textures │ │ │ └── aws_SofaC_01.png │ ├── meshes │ │ ├── aws_SofaC_01_collision.DAE │ │ └── aws_SofaC_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_TVCabinet_01 │ ├── materials │ │ └── textures │ │ │ └── aws_TVCabinet_01.png │ ├── meshes │ │ ├── aws_TVCabinet_01_collision.DAE │ │ └── aws_TVCabinet_01_visual.DAE │ ├── model.config │ └── model.sdf │ ├── aws_robomaker_residential_Trash_01 │ ├── materials │ │ └── textures │ │ │ └── aws_Trash_01.png │ ├── meshes │ │ ├── aws_Trash_01_collision.DAE │ │ └── aws_Trash_01_visual.DAE │ ├── model.config │ └── model.sdf │ └── aws_robomaker_residential_Wardrobe_01 │ ├── materials │ └── textures │ │ └── aws_Wardrobe_01.png │ ├── meshes │ ├── aws_Wardrobe_01_collision.DAE │ └── aws_Wardrobe_01_visual.DAE │ ├── model.config │ └── model.sdf └── zima_ros ├── CMakeLists.txt ├── README.md ├── include ├── gazebo │ └── zima_gazebo_node.h ├── kobuki │ └── zima_kobuki_node.h ├── xtark │ └── zima_xtark_node.h └── zima_ros │ ├── util.h │ ├── zima_node.h │ └── zima_ros_version.h ├── launch ├── gazebo_demo.launch ├── gazebo_mode_test.launch ├── kobuki_matcher_test.launch ├── kobuki_mode_test.launch ├── kobuki_test.launch ├── rviz.launch └── xtark_test.launch ├── msg ├── BlockArea.msg ├── ModeSwitch.msg └── VirtualWall.msg ├── package.xml ├── src ├── gazebo │ ├── zima_gazebo_node.cpp │ ├── zima_matcher_gazebo_test.cpp │ └── zima_mode_gazebo_test.cpp ├── kobuki │ ├── zima_kobuki_node.cpp │ ├── zima_matcher_kobuki_test.cpp │ └── zima_mode_kobuki_test.cpp ├── util.cpp ├── xtark │ ├── zima_xtark_node.cpp │ └── zima_xtark_test.cpp ├── zima_house_cleaning_simulation_test.cpp ├── zima_house_cleaning_with_user_block_simulation_test.cpp ├── zima_node.cpp ├── zima_path_planner_test.cpp ├── zima_room_cleaning_simulation_test.cpp ├── zima_ros_version.cpp ├── zima_section_cleaning_simulation_test.cpp ├── zima_user_select_area_cleaning_simulation_test.cpp └── zima_user_select_room_cleaning_simulation_test.cpp └── zima.rviz /.gitignore: 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