├── .catkin_workspace ├── .gitignore ├── .gitmodules ├── CONTRIBUTING.md ├── README.md ├── config ├── README.md ├── dynamics │ └── README.md ├── launch │ ├── README.md │ └── full_stack │ │ ├── perception.launch │ │ └── planning.launch └── sensors │ ├── extrinsics.example.json │ └── intrinsics.example.json ├── docs ├── CLAP_Flow.jpg └── index.md └── src ├── cognition ├── README.md ├── object_locator │ ├── CMakeLists.txt │ ├── README.md │ ├── nodes │ │ └── nearest_locator │ ├── package.xml │ ├── setup.py │ └── src │ │ └── zzz_cognition_object_locator │ │ ├── __init__.py │ │ └── nearest_locator.py ├── prediction │ └── .placeholder ├── protocol │ ├── CMakeLists.txt │ ├── msg │ │ ├── JunctionMapState.msg │ │ ├── LaneState.msg │ │ ├── MapState.msg │ │ ├── MultiLaneMapState.msg │ │ └── RoadObstacle.msg │ ├── package.xml │ ├── setup.py │ └── src │ │ └── zzz_cognition_msgs │ │ ├── __init__.py │ │ └── utils.py └── reference_path │ ├── CMakeLists.txt │ ├── nodes │ └── put_buffer │ ├── package.xml │ ├── setup.py │ └── src │ └── zzz_cognition_reference_path │ ├── __init__.py │ └── path_buffer.py ├── control ├── README.md ├── latlon_controllers │ ├── CMakeLists.txt │ ├── nodes │ │ └── pure_persuit │ ├── package.xml │ ├── setup.py │ └── src │ │ └── zzz_control_latlon_controllers │ │ ├── __init__.py │ │ ├── lateral.py │ │ ├── longitudinal.py │ │ └── main.py └── protocol │ ├── CMakeLists.txt │ ├── msg │ ├── AuxiliaryCommand.msg │ └── ControlCommand.msg │ └── package.xml ├── driver ├── README.md ├── actuators │ └── dataspeed_adapter │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── nodes │ │ ├── convert_mkz_command │ │ └── convert_mkz_report │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ └── zzz_driver_actuators_dataspeed_adapter │ │ ├── __init__.py │ │ └── mkz.py ├── datasets │ ├── benchmark │ │ ├── CMakeLists.txt │ │ ├── REAMDE.md │ │ ├── nodes │ │ │ ├── decision │ │ │ └── tracking │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── zzz_driver_datasets_benchmark │ │ │ ├── __init__.py │ │ │ ├── decision.py │ │ │ ├── detection.py │ │ │ ├── odometry.py │ │ │ └── tracking.py │ └── kitti │ │ ├── CMakeLists.txt │ │ ├── LICENSE.md │ │ ├── README.md │ │ ├── TODO.md │ │ ├── package.xml │ │ ├── scripts │ │ └── convert_bag │ │ ├── setup.py │ │ └── src │ │ └── zzz_driver_datasets_kitti │ │ ├── __init__.py │ │ ├── enums.py │ │ ├── odometry.py │ │ ├── raw.py │ │ └── utils.py ├── platforms │ ├── autoware_adapter │ │ └── .placeholder │ └── mcity_adapter │ │ ├── CMakeLists.txt │ │ ├── msg │ │ ├── BSM.msg │ │ ├── BSMVec.msg │ │ ├── Control.msg │ │ ├── SPaT.msg │ │ ├── SPaTVec.msg │ │ └── VehicleState.msg │ │ ├── nodes │ │ └── convert_topic │ │ └── package.xml ├── protocol │ ├── CMakeLists.txt │ ├── msg │ │ ├── AuxiliaryReport.msg │ │ ├── ChassisReport.msg │ │ ├── ControlReport.msg │ │ ├── ResourceReport.msg │ │ ├── RigidBodyState.msg │ │ └── RigidBodyStateStamped.msg │ ├── package.xml │ ├── setup.py │ └── src │ │ └── zzz_driver_msgs │ │ ├── __init__.py │ │ └── utils.py ├── sensors │ ├── astuff_adapter │ │ ├── CMakeLists.txt │ │ ├── nodes │ │ │ └── convert_topic │ │ └── package.xml │ └── velodyne │ │ └── .placeholder └── simulators │ ├── carla │ └── carla_adapter │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── static_sensors.example.json │ │ └── vehicle_sensors.example.json │ │ ├── launch │ │ ├── server.launch │ │ └── server.launch.yaml │ │ ├── nodes │ │ └── convert_topic │ │ ├── package.xml │ │ └── scripts │ │ ├── server.tmuxp.yaml │ │ ├── spawn_agent │ │ ├── use_bridge │ │ ├── auxiliary.launch │ │ └── main.launch │ │ └── use_srunner │ │ ├── ZZZAgent.py │ │ ├── main.launch │ │ └── start.sh │ └── lgsvl │ └── README.md ├── library ├── CMakeLists.txt ├── README.md ├── msgs │ └── .placeholder ├── package.xml ├── setup.py ├── src │ └── zzz_common │ │ ├── __init__.py │ │ ├── dynamic_models.py │ │ ├── geometry.py │ │ ├── kinematics.py │ │ ├── logger.py │ │ ├── msg │ │ ├── __init__.py │ │ └── utils.py │ │ └── params.py └── test │ └── test_geometry.py ├── monitor └── README.md ├── navigation ├── map_provider │ └── sumo │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── nodes │ │ └── local_map_generator │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ └── zzz_navigation_map_provider_sumo │ │ ├── __init__.py │ │ └── local_map.py ├── pose_reporter │ ├── CMakeLists.txt │ ├── README.md │ ├── nodes │ │ └── manual │ ├── package.xml │ └── srv │ │ └── UpdateOrigin.srv └── protocol │ ├── CMakeLists.txt │ ├── msg │ ├── Lane.msg │ ├── LaneBoundary.msg │ ├── LanePoint.msg │ ├── LaneSituation.msg │ ├── Map.msg │ └── MapString.msg │ ├── package.xml │ ├── setup.py │ └── src │ └── zzz_navigation_msgs │ ├── __init__.py │ └── utils.py ├── perception ├── README.md ├── detection │ ├── camera_detectors │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── launch │ │ │ └── example.launch │ │ ├── nodes │ │ │ ├── traffic_light_detector │ │ │ └── yolo │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── zzz_perception_detection_camera_detectors │ │ │ └── __init__.py │ ├── camera_filters │ │ ├── CMakeLists.txt │ │ ├── nodes │ │ │ ├── ipm_projector │ │ │ └── pseudo_lidar_generator │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── zzz_perception_detection_camera_filters │ │ │ ├── __init__.py │ │ │ └── ipm.py │ ├── fused_detectors │ │ ├── CMakeLists.txt │ │ ├── nodes │ │ │ └── frustum │ │ ├── package.xml │ │ └── setup.py │ ├── lidar_detectors │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── zzz_perception_detection_lidar_detectors │ │ │ │ ├── EuclideanCluster2dDetector.h │ │ │ │ ├── EuclideanClusterDetector.h │ │ │ │ └── LidarDetector.h │ │ ├── nodes │ │ │ └── euclidean_cluster_detector.cpp │ │ ├── package.xml │ │ └── src │ │ │ ├── EuclideanClusterDetector.cpp │ │ │ └── LidarDetector.cpp │ └── lidar_filters │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── nodes │ │ ├── extrinsic │ │ └── lshape │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ └── zzz_perception_detection_lidar_filters │ │ ├── __init__.py │ │ ├── estimators.py │ │ └── transformers.py ├── localization │ ├── README.md │ └── imu_wheel_odom │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── nodes │ │ └── locator │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ └── zzz_perception_localization_imu_wheel_odom │ │ └── __init__.py ├── protocol │ ├── CMakeLists.txt │ ├── msg │ │ ├── BoundingBox.msg │ │ ├── BoundingBox2D.msg │ │ ├── DetectionBox.msg │ │ ├── DetectionBox2D.msg │ │ ├── DetectionBox2DArray.msg │ │ ├── DetectionBoxArray.msg │ │ ├── Dimension2DWithCovariance.msg │ │ ├── DimensionWithCovariance.msg │ │ ├── LaneDetection.msg │ │ ├── LaneDetectionArray.msg │ │ ├── ObjectClass.msg │ │ ├── ObjectSignals.msg │ │ ├── Pose2DWithCovariance.msg │ │ ├── TrackingBox.msg │ │ └── TrackingBoxArray.msg │ └── package.xml └── tracking │ ├── object_filters │ ├── CMakeLists.txt │ ├── README.md │ ├── nodes │ │ ├── criteria │ │ └── to_static │ ├── package.xml │ ├── setup.py │ └── src │ │ └── zzz_perception_tracking_object_filters │ │ ├── __init__.py │ │ ├── selectors.py │ │ └── transformers.py │ └── object_trackers │ ├── CMakeLists.txt │ ├── nodes │ └── box_tracker │ ├── package.xml │ ├── setup.py │ └── src │ └── zzz_perception_tracking_object_trackers │ ├── __init__.py │ ├── associate.py │ ├── filters.py │ └── trackers.py ├── planning ├── README.md ├── decision │ ├── lane_models │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── nodes │ │ │ ├── idm_lane_utility │ │ │ └── rls_train │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ │ └── zzz_planning_decision_lane_models │ │ │ ├── __init__.py │ │ │ ├── lateral.py │ │ │ ├── learning.py │ │ │ ├── longitudinal.py │ │ │ └── main.py │ └── safeguard │ │ ├── CMakeLists.txt │ │ ├── nodes │ │ └── reachable_set │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ └── zzz_planning_decision_safeguard │ │ ├── __init__.py │ │ └── reachable_set.py ├── protocol │ ├── CMakeLists.txt │ ├── msg │ │ └── DecisionTrajectory.msg │ └── package.xml ├── routing │ └── .placeholder └── trajectory │ └── .placeholder ├── tools ├── README.md ├── command_calibration.py └── select_submsg.py └── visualization ├── README.md ├── rviz └── box_visualizer │ ├── CMakeLists.txt │ ├── README.md │ ├── nodes │ ├── detection │ ├── detection2d │ └── tracking │ ├── package.xml │ ├── setup.py │ └── src │ └── zzz_visualization_rviz_box_visualizer │ ├── __init__.py │ ├── detection.py │ ├── detection2d.py │ ├── tracking.py │ └── utils.py └── web ├── dash ├── CMakeLists.txt ├── README.md ├── nodes │ └── dashboard ├── package.xml ├── setup.py └── src │ └── zzz_visualization_web_dash │ └── __init__.py └── xviz └── .place_holder /.catkin_workspace: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CLAP-Framework/clap/HEAD/.catkin_workspace -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 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