├── .clang-format ├── .dockerfilelintrc ├── .flake8 ├── .github └── workflows │ └── github-actions.yml ├── .gitignore ├── .markdownlint.yaml ├── .pre-commit-config.yaml ├── Dockerfile-noetic ├── LICENSE ├── README.md ├── mir_actions ├── CHANGELOG.rst ├── CMakeLists.txt ├── action │ └── MirMoveBase.action └── package.xml ├── mir_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── diffdrive_controller.yaml │ └── joint_state_controller.yaml ├── launch │ ├── mir_debug_urdf.launch │ └── upload_mir_urdf.launch ├── meshes │ ├── collision │ │ ├── caster_wheel_base.stl │ │ ├── mir_100_base.stl │ │ └── mir_250_base.stl │ └── visual │ │ ├── caster_wheel_base.stl │ │ ├── mir_100_base.stl │ │ ├── mir_250_base.stl │ │ ├── sick_lms-100.stl │ │ └── wheel.stl ├── package.xml ├── rviz │ └── mir_description.rviz └── urdf │ ├── include │ ├── common.gazebo.xacro │ ├── common_properties.urdf.xacro │ ├── imu.gazebo.urdf.xacro │ ├── mir.gazebo.xacro │ ├── mir.transmission.xacro │ ├── mir_100_v1.urdf.xacro │ ├── mir_v1.urdf.xacro │ └── sick_s300.urdf.xacro │ └── mir.urdf.xacro ├── mir_driver ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch │ └── mir.launch ├── nodes │ ├── fake_mir_joint_publisher.py │ ├── mir_bridge.py │ ├── rep117_filter.py │ └── tf_remove_child_frames.py ├── package.xml ├── setup.py └── src │ └── mir_driver │ ├── __init__.py │ └── rosbridge.py ├── mir_dwb_critics ├── CHANGELOG.rst ├── CMakeLists.txt ├── default_critics.xml ├── include │ └── mir_dwb_critics │ │ ├── path_angle.h │ │ ├── path_dist_pruned.h │ │ └── path_progress.h ├── nodes │ ├── plot_dwb_scores.py │ └── print_dwb_scores.py ├── package.xml └── src │ ├── path_angle.cpp │ ├── path_dist_pruned.cpp │ └── path_progress.cpp ├── mir_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ └── ekf.yaml ├── launch │ ├── fake_localization.launch │ ├── includes │ │ ├── ekf.launch.xml │ │ └── spawn_maze.launch.xml │ ├── mir_empty_world.launch │ ├── mir_gazebo_common.launch │ └── mir_maze_world.launch ├── maps │ ├── maze.png │ ├── maze.yaml │ ├── maze_virtual_walls.png │ └── maze_virtual_walls.yaml ├── package.xml └── sdf │ └── maze │ ├── model.config │ └── model.sdf ├── mir_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── AngleMeasurment.msg │ ├── BMSData.msg │ ├── BatteryCurrents.msg │ ├── BrakeState.msg │ ├── ChargingState.msg │ ├── Device.msg │ ├── Devices.msg │ ├── EncoderTestEntry.msg │ ├── Encoders.msg │ ├── Error.msg │ ├── Event.msg │ ├── Events.msg │ ├── ExternalRobot.msg │ ├── ExternalRobots.msg │ ├── Gpio.msg │ ├── GripperState.msg │ ├── HeightState.msg │ ├── HookData.msg │ ├── HookExtendedStatus.msg │ ├── HookStatus.msg │ ├── IOs.msg │ ├── JoystickVel.msg │ ├── LocalMapStat.msg │ ├── MirExtra.msg │ ├── MirLocalPlannerPathTypes.msg │ ├── MissionCtrlCommand.msg │ ├── MissionCtrlState.msg │ ├── MovingState.msg │ ├── PalletLifterStatus.msg │ ├── Path.msg │ ├── Pendant.msg │ ├── PlanSegment.msg │ ├── PlanSegments.msg │ ├── Pose2D.msg │ ├── PowerBoardMotorStatus.msg │ ├── PrecisionDockingStatus.msg │ ├── Proximity.msg │ ├── ResourceState.msg │ ├── ResourcesAcquisition.msg │ ├── ResourcesState.msg │ ├── RobotMode.msg │ ├── RobotState.msg │ ├── RobotStatus.msg │ ├── SafetyStatus.msg │ ├── Serial.msg │ ├── ServiceResponseHeader.msg │ ├── SkidDetectionDiff.msg │ ├── SkidDetectionStampedFloat.msg │ ├── SoundEvent.msg │ ├── StampedEncoders.msg │ ├── TimeDebug.msg │ ├── Trolley.msg │ ├── Twist2D.msg │ ├── UserPrompt.msg │ ├── WebPath.msg │ ├── WorldMap.msg │ └── WorldModel.msg └── package.xml ├── mir_navigation ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── base_local_planner_params.yaml │ ├── costmap_common_params.yaml │ ├── costmap_global_params.yaml │ ├── costmap_global_params_plugins_no_virtual_walls.yaml │ ├── costmap_global_params_plugins_virtual_walls.yaml │ ├── costmap_local_params.yaml │ ├── costmap_local_params_plugins_no_virtual_walls.yaml │ ├── costmap_local_params_plugins_virtual_walls.yaml │ ├── dwa_local_planner_params.yaml │ ├── dwb_local_planner_params.yaml │ ├── eband_local_planner_params.yaml │ ├── mir_local_planner_params.yaml │ ├── move_base_common_params.yaml │ ├── pose_local_planner_params.yaml │ ├── rpp_local_planner_params.yaml │ ├── sbpl_global_params.yaml │ └── teb_local_planner_params.yaml ├── launch │ ├── amcl.launch │ ├── hector_mapping.launch │ ├── move_base.xml │ ├── start_maps.launch │ └── start_planner.launch ├── mprim │ ├── genmprim_unicycle_highcost_5cm.m │ ├── genmprim_unicycle_highcost_5cm.py │ ├── unicycle_5cm.mprim │ ├── unicycle_5cm_expensive_turn_in_place.mprim │ ├── unicycle_5cm_expensive_turn_in_place_highcost.mprim │ ├── unicycle_5cm_noreverse_trolley.mprim │ ├── unicycle_highcost_10cm.mprim │ ├── unicycle_highcost_1cm.mprim │ ├── unicycle_highcost_2_5cm.mprim │ ├── unicycle_highcost_2cm.mprim │ └── unicycle_highcost_5cm.mprim ├── nodes │ ├── acc_finder.py │ └── min_max_finder.py ├── package.xml ├── rviz │ └── navigation.rviz └── scripts │ └── plot_mprim.py ├── mir_robot ├── CHANGELOG.rst ├── CMakeLists.txt └── package.xml ├── pyproject.toml └── sdc21x0 ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg ├── Encoders.msg ├── MotorCurrents.msg └── StampedEncoders.msg ├── package.xml └── srv └── Flags.srv /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DFKI-NI/mir_robot/HEAD/.clang-format -------------------------------------------------------------------------------- /.dockerfilelintrc: -------------------------------------------------------------------------------- 1 | rules: 2 | apt-get-update_require_install: off 3 | -------------------------------------------------------------------------------- /.flake8: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DFKI-NI/mir_robot/HEAD/.flake8 -------------------------------------------------------------------------------- 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