├── .clang-format ├── .clang-tidy ├── .cmake-format.py ├── .github └── workflows │ ├── documentation.yml │ └── main.yml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── LICENSES ├── .license_header.txt ├── .license_header_cc0.txt ├── Apache-2.0.txt └── CC0-1.0.txt ├── README.md ├── cmake ├── Dependencies.cmake ├── DeveloperSetup.cmake └── FindProj.cmake ├── docs ├── Doxyfile.in ├── custom.css └── images │ ├── rviz_RH.png │ └── rviz_RH.png.license ├── scripts ├── runLocalization.sh ├── runMP.sh └── runRH.sh ├── src ├── dsd_map_service_ros_wrapper │ ├── CMakeLists.txt │ └── package.xml ├── dsd_rail_horizon │ ├── CMakeLists.txt │ ├── config │ │ └── parameters.yaml │ ├── docs │ │ ├── CMakeLists.txt │ │ └── Doxyfile.in │ ├── include │ │ └── dsd_rail_horizon │ │ │ ├── RailHorizonNode.h │ │ │ ├── RailHorizonParameters.h │ │ │ ├── interfaces │ │ │ ├── IClock.h │ │ │ ├── IPublisher.h │ │ │ └── implementations │ │ │ │ ├── RosClock.h │ │ │ │ ├── RosLogger.h │ │ │ │ └── RosPublisher.h │ │ │ ├── publisher │ │ │ ├── AppStatusPublisher.h │ │ │ ├── MarkerStructurePublisher.h │ │ │ └── RailHorizonPublisher.h │ │ │ ├── subscriber │ │ │ ├── CoupledLocalizationSubscriber.h │ │ │ └── MissionProfileSubscriber.h │ │ │ └── utils │ │ │ ├── CalculationHelper.h │ │ │ ├── MessageHelper.h │ │ │ └── StructureConverter.h │ ├── launch │ │ └── launch.py │ ├── package.xml │ ├── publish_rh_tf.sh │ ├── src │ │ ├── RailHorizonMain.cpp │ │ ├── RailHorizonNode.cpp │ │ ├── RailHorizonParameters.cpp │ │ ├── publisher │ │ │ ├── AppStatusPublisher.cpp │ │ │ ├── MarkerStructurePublisher.cpp │ │ │ └── RailHorizonPublisher.cpp │ │ └── subscriber │ │ │ ├── CoupledLocalizationSubscriber.cpp │ │ │ └── MissionProfileSubscriber.cpp │ └── tests │ │ ├── CMakeLists.txt │ │ ├── integration_tests │ │ ├── __init__.py │ │ ├── .gitignore │ │ ├── AppStatusPublisherTests.py │ │ ├── CMakeLists.txt │ │ └── helper │ │ │ ├── __init__.py │ │ │ └── TestSubscriber.py │ │ └── unit_tests │ │ ├── CMakeLists.txt │ │ ├── tests │ │ ├── RailHorizonNodeTests.cpp │ │ ├── interfaces │ │ │ └── implementations │ │ │ │ ├── RosClockTests.cpp │ │ │ │ ├── RosLoggerTests.cpp │ │ │ │ └── RosPublisherTests.cpp │ │ ├── publisher │ │ │ ├── AppStatusPublisherTests.cpp │ │ │ ├── MarkerStructurePublisherTests.cpp │ │ │ └── RailHorizonPublisherTests.cpp │ │ ├── subscriber │ │ │ ├── CoupledLocalizationSubscriberTests.cpp │ │ │ └── MissionProfileSubscriberTests.cpp │ │ └── utils │ │ │ ├── CalculationHelperTests.cpp │ │ │ └── MessageHelperTests.cpp │ │ └── utils │ │ ├── CustomMatcher.h │ │ ├── CustomPrintDefinitions.h │ │ ├── TestSubscriber.h │ │ ├── data │ │ └── StructureData.h │ │ └── mocks │ │ ├── ClockMock.h │ │ ├── LoggerMock.h │ │ └── PublisherMock.h └── dsd_rail_horizon_core │ ├── CMakeLists.txt │ ├── cmake │ └── configs │ │ └── dsd_rail_horizon_coreConfigExtra.cmake │ ├── docs │ ├── CMakeLists.txt │ └── Doxyfile.in │ ├── include │ └── dsd_rail_horizon_core │ │ ├── LookupStructures.h │ │ ├── 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