├── .gitlab-ci.yml ├── README.md ├── docs ├── about.md ├── app.md ├── conf.py ├── contact.md ├── imgs │ ├── answer.png │ ├── app1.png │ ├── app2.png │ ├── app3.png │ ├── app4.png │ ├── app5.png │ ├── area.jpg │ ├── awak1.png │ ├── awak2.png │ ├── baidunet.png │ ├── boot.jpg │ ├── change1.png │ ├── change2.png │ ├── change3.png │ ├── finish.jpg │ ├── fuwu.png │ ├── grammar.png │ ├── host.png │ ├── ifconfig.png │ ├── install.jpg │ ├── iso.png │ ├── iso1.png │ ├── iso2.png │ ├── iso3.png │ ├── list.png │ ├── main.jpg │ ├── multi.jpg │ ├── net.jpg │ ├── quality-safe.png │ ├── reboot.jpg │ ├── roshostname.png │ ├── space.jpg │ ├── space1.jpg │ ├── terminal.png │ ├── third.jpg │ ├── tmpboot.jpg │ ├── toc.png │ ├── ubuntu.png │ ├── user.jpg │ ├── wifi.png │ ├── wps13UyBo.jpg │ ├── wps2GKBUq.jpg │ ├── wps5hVvhg.jpg │ ├── wps8rz8Os.jpg │ ├── wps9AwlHq.jpg │ ├── wpsByUB87.jpg │ ├── wpsDAhojt.jpg │ ├── wpsDqr2M9.jpg │ ├── wpsDx7w9h.jpg │ ├── wpsEUEbXd.jpg │ ├── wpsF7cVPW.jpg │ ├── wpsFyFc2H.jpg │ ├── wpsHYzrnQ.jpg │ ├── wpsICZ4ac.jpg │ ├── wpsIIDccO.jpg │ ├── wpsKCAIZf.jpg │ ├── wpsKHIKrK.jpg │ ├── wpsKXyUZQ.jpg │ ├── wpsKcqrhp.jpg │ ├── wpsLLkvvS.jpg │ ├── wpsMVYN5o.png │ ├── wpsOPGQ9Y.jpg │ ├── wpsOryEUD.jpg │ ├── wpsPOudkk.jpg │ ├── wpsPV3lL7.png │ ├── wpsPatmvD.jpg │ ├── wpsROXfRz.jpg │ ├── wpsRUKaj3.jpg │ ├── wpsRpOaA1.jpg │ ├── wpsSRgdpx.jpg │ ├── wpsSwb8qQ.png │ ├── wpsSyjru7.jpg │ ├── wpsTlVxTY.jpg │ ├── wpsVrPOVJ.png │ ├── wpsW9XNE5.jpg │ ├── wpsWqmObM.jpg │ ├── wpsXLtwi5.jpg │ ├── wpsYVWEe3.jpg │ ├── wpsZIiXwO.jpg │ ├── wpsbxRt4u.jpg │ ├── wpscIUPpB.jpg │ ├── wpsePWTBU.jpg │ ├── wpsiEgUom.jpg │ ├── wpsis4pNH.jpg │ ├── wpsjIoQ2U.jpg │ ├── wpsjoiW5w.jpg │ ├── wpsk9TC20.jpg │ ├── wpskVMIIF.jpg │ ├── wpskoAkB9.jpg │ ├── wpssBFtgz.jpg │ ├── wpssUWyqk.jpg │ ├── wpst6XHMm.jpg │ ├── wpsuZyFIi.jpg │ ├── wpsw4svFS.jpg │ ├── wpsxnK0xB.jpg │ ├── wpszKhmqG.png │ ├── wpszq0uIb.jpg │ ├── xbot.jpg │ ├── xbotu-check.png │ └── xbotu-version.png ├── index.rst ├── install-ros.md ├── install-ubuntu.md ├── intel.md ├── open.md ├── ros-setting.md ├── roswiki.md ├── sim.md ├── slam.md ├── stepin.md ├── talker.md └── use.md ├── xbot.jpg ├── xbot ├── CMakeLists.txt ├── README.md └── package.xml ├── xbot_bringup ├── CMakeLists.txt ├── README.md ├── launch │ ├── includes │ │ └── xbot.launch.xml │ ├── realsense.launch │ ├── rplidar.launch │ ├── xbot-arm1.launch │ ├── xbot-arm2.launch │ ├── xbot-u-arm.launch │ ├── xbot-u.launch │ └── xbot.launch ├── package.xml ├── param │ ├── mux.yaml │ └── smoother.yaml └── scripts │ └── xbot_scan180.py ├── xbot_description ├── CMakeLists.txt ├── README.md ├── config │ └── xbot_control.yaml ├── launch │ ├── display.launch │ ├── gazebo.launch │ └── include │ │ └── xbot.launch.xml ├── models │ ├── camera │ │ ├── d415.stl │ │ ├── plug.stl │ │ └── plug_collision.stl │ ├── laser │ │ ├── rplidar.dae │ │ └── sick_tim571.stl │ └── xbot │ │ ├── bace.dae │ │ ├── buxiugang2.jpg │ │ ├── buxiugang3.jpg │ │ ├── head_yaw_link.STL │ │ ├── jinshulasi.jpg │ │ ├── luntai.jpg │ │ ├── moshahei.jpg │ │ ├── pitch.dae │ │ ├── wheel.dae │ │ ├── wheel.jpg │ │ ├── yinqi.jpg │ │ └── zhongdexianluban.jpg ├── package.xml ├── rviz │ ├── urdf.rviz │ └── urdf_gazebo.rviz ├── scripts │ └── xbot_keyboard_teleop.py ├── urdf │ ├── _d415.urdf.xacro │ ├── _materials.urdf.xacro │ ├── _usb_plug.urdf.xacro │ ├── laser.urdf.xacro │ ├── materials.xacro │ ├── robot.xacro │ ├── xbot-u.gazebo │ └── xbot-u.urdf.xacro └── worlds │ └── ROS-Academy.world ├── xbot_driver ├── CMakeLists.txt ├── README.md ├── include │ ├── ecl │ │ ├── command_line.hpp │ │ ├── command_line │ │ │ ├── arg.hpp │ │ │ ├── arg_exception.hpp │ │ │ ├── cmd_line.hpp │ │ │ ├── cmd_line_interface.hpp │ │ │ ├── cmd_line_output.hpp │ │ │ ├── constraint.hpp │ │ │ ├── docbook_output.hpp │ │ │ ├── help_visitor.hpp │ │ │ ├── ignore_rest_visitor.hpp │ │ │ ├── multi_arg.hpp │ │ │ ├── multi_switch_arg.hpp │ │ │ ├── optional_unlabeled_tracker.hpp │ │ │ ├── std_output.hpp │ │ │ ├── switch_arg.hpp │ │ │ ├── unlabeled_multi_arg.hpp │ │ │ ├── unlabeled_value_arg.hpp │ │ │ ├── value_arg.hpp │ │ │ ├── values_constraint.hpp │ │ │ ├── version_visitor.hpp │ │ │ ├── visitor.hpp │ │ │ └── xor_handler.hpp │ │ ├── concepts.hpp │ │ ├── concepts │ │ │ ├── blueprints.hpp │ │ │ ├── containers.hpp │ │ │ ├── devices.hpp │ │ │ ├── macros.hpp │ │ │ ├── nullary_function.hpp │ │ │ └── streams.hpp │ │ ├── config.hpp │ │ ├── config │ │ │ ├── char_sign.hpp │ │ │ ├── ecl.hpp │ │ │ ├── ecl_unknown.hpp │ │ │ ├── endianness.hpp │ │ │ ├── macros.hpp │ │ │ ├── portable_types.hpp │ │ │ └── windows.hpp │ │ ├── containers.hpp │ │ ├── containers │ │ │ ├── array.hpp │ │ │ ├── array │ │ │ │ ├── array_dynamic_mem_check.hpp │ │ │ │ ├── array_dynamic_no_mem_check.hpp │ │ │ │ ├── array_mem_check.hpp │ │ │ │ ├── array_no_mem_check.hpp │ │ │ │ ├── converters.hpp │ │ │ │ └── formatters.hpp │ │ │ ├── common │ │ │ │ └── formatters.hpp │ │ │ ├── converters.hpp │ │ │ ├── definitions.hpp │ │ │ ├── fifo.hpp │ │ │ ├── initialiser.hpp │ │ │ ├── push_and_pop.hpp │ │ │ ├── push_and_pop │ │ │ │ ├── formatters.hpp │ │ │ │ ├── push_and_pop_dynamic.hpp │ │ │ │ └── push_and_pop_fixed.hpp │ │ │ ├── stencil.hpp │ │ │ └── stencil │ │ │ │ ├── converters.hpp │ │ │ │ ├── formatters.hpp │ │ │ │ ├── specialisations.hpp │ │ │ │ └── stencil.hpp │ │ ├── converters.hpp │ │ ├── converters │ │ │ ├── char.hpp │ │ │ ├── char_strings.hpp │ │ │ ├── converter.hpp │ │ │ ├── from_byte_array.hpp │ │ │ ├── integers.hpp │ │ │ ├── string.hpp │ │ │ └── to_byte_array.hpp │ │ ├── devices.hpp │ │ ├── devices │ │ │ ├── console.hpp │ │ │ ├── detail │ │ │ │ ├── character_buffer.hpp │ │ │ │ ├── error_handler.hpp │ │ │ │ ├── exception_handler_pos.hpp │ │ │ │ ├── socket_error_handler_pos.hpp │ │ │ │ └── socket_exception_handler_pos.hpp │ │ │ ├── macros.hpp │ │ │ ├── modes.hpp │ │ │ ├── ofile.hpp │ │ │ ├── ofile_pos.hpp │ │ │ ├── ofile_w32.hpp │ │ │ ├── serial.hpp │ │ │ ├── serial_parameters.hpp │ │ │ ├── serial_pos.hpp │ │ │ ├── serial_w32.hpp │ │ │ ├── shared_file.hpp │ │ │ ├── socket.hpp │ │ │ ├── socket_client_pos.hpp │ │ │ ├── socket_connection_status.hpp │ │ │ ├── socket_server_pos.hpp │ │ │ ├── string.hpp │ │ │ └── traits.hpp │ │ ├── eigen.hpp │ │ ├── errors.hpp │ │ ├── errors │ │ │ ├── compile_time_assert.hpp │ │ │ ├── flags.hpp │ │ │ ├── handlers.hpp │ │ │ ├── macros.hpp │ │ │ └── run_time_functions.hpp │ │ ├── exceptions.hpp │ │ ├── exceptions │ │ │ ├── data_exception.hpp │ │ │ ├── exception.hpp │ │ │ ├── macros.hpp │ │ │ ├── posix_error_handler.hpp │ │ │ └── standard_exception.hpp │ │ ├── formatters.hpp │ │ ├── formatters │ │ │ ├── common.hpp │ │ │ ├── floats.hpp │ │ │ ├── macros.hpp │ │ │ ├── number.hpp │ │ │ └── strings.hpp │ │ ├── geometry.hpp │ │ ├── geometry │ │ │ ├── angle.hpp │ │ │ ├── cartesian_point.hpp │ │ │ ├── cubic_spline.hpp │ │ │ ├── function_math.hpp │ │ │ ├── homogeneous_point.hpp │ │ │ ├── linear_segment.hpp │ │ │ ├── macros.hpp │ │ │ ├── pascals_triangle.hpp │ │ │ ├── polynomial.hpp │ │ │ ├── pose.hpp │ │ │ ├── pose2d.hpp │ │ │ ├── pose3d.hpp │ │ │ ├── smooth_linear_spline.hpp │ │ │ ├── spline_function.hpp │ │ │ ├── tension_function.hpp │ │ │ └── tension_spline.hpp │ │ ├── linear_algebra.hpp │ │ ├── linear_algebra │ │ │ ├── eigen.hpp │ │ │ ├── eigen │ │ │ │ ├── formatters.hpp │ │ │ │ ├── plugin.hpp │ │ │ │ └── unsupported │ │ │ │ │ ├── nonlinear_optimization.hpp │ │ │ │ │ └── numerical_diff.hpp │ │ │ ├── sophus.hpp │ │ │ └── sophus │ │ │ │ ├── formatters.hpp │ │ │ │ ├── helpers.hpp │ │ │ │ └── interpolators.hpp │ │ ├── math.hpp │ │ ├── math │ │ │ ├── constants.hpp │ │ │ ├── fuzzy.hpp │ │ │ ├── norms.hpp │ │ │ └── simple.hpp │ │ ├── mobile_robot.hpp │ │ ├── mobile_robot │ │ │ ├── differential_drive.hpp │ │ │ ├── kinematics │ │ │ │ └── differential_drive.hpp │ │ │ └── macros.hpp │ │ ├── mpl.hpp │ │ ├── mpl │ │ │ ├── bool.hpp │ │ │ ├── converters.hpp │ │ │ ├── enable_if.hpp │ │ │ ├── failed_object.hpp │ │ │ └── if.hpp │ │ ├── sigslots.hpp │ │ ├── sigslots │ │ │ ├── macros.hpp │ │ │ ├── manager.hpp │ │ │ ├── signal.hpp │ │ │ ├── sigslot.hpp │ │ │ ├── slot.hpp │ │ │ └── topic.hpp │ │ ├── streams.hpp │ │ ├── streams │ │ │ ├── console_streams.hpp │ │ │ ├── file_streams.hpp │ │ │ ├── log_stream.hpp │ │ │ ├── macros.hpp │ │ │ ├── manipulators.hpp │ │ │ ├── manipulators │ │ │ │ ├── clear_screen.hpp │ │ │ │ ├── end_of_line.hpp │ │ │ │ └── manipulator.hpp │ │ │ ├── serial_stream.hpp │ │ │ ├── shared_file_stream.hpp │ │ │ ├── socket_streams.hpp │ │ │ ├── string_stream.hpp │ │ │ ├── text_stream.hpp │ │ │ └── text_streams │ │ │ │ ├── base_text_stream.hpp │ │ │ │ ├── input_text_stream.hpp │ │ │ │ └── output_text_stream.hpp │ │ ├── threads.hpp │ │ ├── threads │ │ │ ├── macros.hpp │ │ │ ├── mutex.hpp │ │ │ ├── mutex_pos.hpp │ │ │ ├── mutex_w32.hpp │ │ │ ├── priority.hpp │ │ │ ├── priority_common.hpp │ │ │ ├── priority_pos.hpp │ │ │ ├── priority_win.hpp │ │ │ ├── thread.hpp │ │ │ ├── thread_exceptions_pos.hpp │ │ │ ├── thread_pos.hpp │ │ │ ├── thread_win.hpp │ │ │ └── threadable.hpp │ │ ├── time.hpp │ │ ├── time │ │ │ ├── cpuwatch.hpp │ │ │ ├── cpuwatch_rt.hpp │ │ │ ├── duration.hpp │ │ │ ├── frequency.hpp │ │ │ ├── macros.hpp │ │ │ ├── random_number_generator.hpp │ │ │ ├── sleep.hpp │ │ │ ├── sleep_pos.hpp │ │ │ ├── sleep_win.hpp │ │ │ ├── snooze.hpp │ │ │ ├── snooze_pos.hpp │ │ │ ├── snooze_win.hpp │ │ │ ├── stopwatch.hpp │ │ │ ├── time_data.hpp │ │ │ ├── timestamp.hpp │ │ │ ├── timestamp_base.hpp │ │ │ ├── timestamp_pos.hpp │ │ │ └── timestamp_win.hpp │ │ ├── time_lite.hpp │ │ ├── time_lite │ │ │ ├── config.hpp │ │ │ ├── cpu_time.hpp │ │ │ ├── date.hpp │ │ │ ├── errors.hpp │ │ │ ├── functions.hpp │ │ │ ├── functions_mac.hpp │ │ │ ├── functions_pos.hpp │ │ │ ├── functions_rt.hpp │ │ │ ├── functions_win.hpp │ │ │ ├── macros.hpp │ │ │ ├── types.hpp │ │ │ ├── types_pos.hpp │ │ │ └── types_win.hpp │ │ ├── type_traits.hpp │ │ ├── type_traits │ │ │ ├── fundamental_types.hpp │ │ │ ├── macros.hpp │ │ │ ├── numeric_limits.hpp │ │ │ └── traits.hpp │ │ ├── utilities.hpp │ │ └── utilities │ │ │ ├── blueprints.hpp │ │ │ ├── flags.hpp │ │ │ ├── function_objects.hpp │ │ │ ├── parameter.hpp │ │ │ ├── references.hpp │ │ │ ├── singleton.hpp │ │ │ └── void.hpp │ └── xbot_driver │ │ ├── command.hpp │ │ ├── lqueue.h │ │ ├── macros.hpp │ │ ├── modules.hpp │ │ ├── modules │ │ ├── acceleration_limiter.hpp │ │ └── diff_drive.hpp │ │ ├── packet_handler │ │ ├── packet_finder.hpp │ │ ├── payload_base.hpp │ │ └── payload_headers.hpp │ │ ├── packets.hpp │ │ ├── packets │ │ ├── core_sensors.hpp │ │ └── sensors.hpp │ │ ├── parameters.hpp │ │ └── xbot.hpp ├── package.xml └── src │ ├── CMakeLists.txt │ ├── driver │ ├── CMakeLists.txt │ ├── command.cpp │ ├── core_sensors.cpp │ ├── diff_drive.cpp │ ├── packet_finder.cpp │ ├── sensors.cpp │ └── xbot.cpp │ ├── test │ ├── CMakeLists.txt │ ├── initialisation.cpp │ ├── sigslots.cpp │ ├── simple_loop.cpp │ └── velocity_commands.cpp │ └── tools │ ├── CMakeLists.txt │ ├── simple_keyop.cpp │ └── version_info.cpp ├── xbot_face ├── CMakeLists.txt ├── README.md ├── launch │ └── face_recog.launch ├── msg │ └── FaceResult.msg ├── package.xml ├── script │ ├── camera_image.py │ ├── face_logout.py │ ├── face_recog.py │ └── face_register.py └── src │ ├── camera_image.cpp │ └── wenhou.cpp ├── xbot_msgs ├── CMakeLists.txt ├── README.md ├── action │ └── AutoDocking.action ├── msg │ ├── Battery.msg │ ├── CoreSensor.msg │ ├── Echo.msg │ ├── ExtraSensor.msg │ ├── InfraRed.msg │ ├── KeyboardInput.msg │ ├── RawImu.msg │ └── XbotState.msg └── package.xml ├── xbot_navi ├── CMakeLists.txt ├── README.md ├── json │ ├── greet.json │ └── kp.json ├── launch │ ├── build_map.launch │ ├── demo.launch │ ├── include │ │ ├── amcl.launch.xml │ │ ├── map_server.launch │ │ ├── move_base.launch.xml │ │ └── velocity_smoother.launch.xml │ ├── load_map.launch │ └── view_rviz.launch ├── map │ ├── 807compete.pgm │ └── 807compete.yaml ├── package.xml ├── param │ ├── amcl_config.yaml │ ├── costmap_common_params.yaml │ ├── dummy.yaml │ ├── dwa_local_planner_params.yaml │ ├── global_costmap_params.yaml │ ├── global_planner_params.yaml │ ├── local_costmap_params.yaml │ ├── move_base_params.yaml │ ├── navfn_global_planner_params.yaml │ ├── smoother.yaml │ └── trajectory_local_planner_params.yaml ├── rviz │ └── rviz.rviz └── script │ ├── demo.py │ └── input_keypoint.py ├── xbot_node ├── CMakeLists.txt ├── README.md ├── include │ ├── ecl │ │ ├── command_line.hpp │ │ ├── command_line │ │ │ ├── arg.hpp │ │ │ ├── arg_exception.hpp │ │ │ ├── cmd_line.hpp │ │ │ ├── cmd_line_interface.hpp │ │ │ ├── cmd_line_output.hpp │ │ │ ├── constraint.hpp │ │ │ ├── docbook_output.hpp │ │ │ ├── help_visitor.hpp │ │ │ ├── ignore_rest_visitor.hpp │ │ │ ├── multi_arg.hpp │ │ │ ├── multi_switch_arg.hpp │ │ │ ├── optional_unlabeled_tracker.hpp │ │ │ ├── std_output.hpp │ │ │ ├── switch_arg.hpp │ │ │ ├── unlabeled_multi_arg.hpp │ │ │ ├── unlabeled_value_arg.hpp │ │ │ ├── value_arg.hpp │ │ │ ├── values_constraint.hpp │ │ │ ├── version_visitor.hpp │ │ │ ├── visitor.hpp │ │ │ └── xor_handler.hpp │ │ ├── concepts.hpp │ │ ├── concepts │ │ │ ├── blueprints.hpp │ │ │ ├── containers.hpp │ │ │ ├── devices.hpp │ │ │ ├── macros.hpp │ │ │ ├── nullary_function.hpp │ │ │ └── streams.hpp │ │ ├── config.hpp │ │ ├── config │ │ │ ├── char_sign.hpp │ │ │ ├── ecl.hpp │ │ │ ├── ecl_unknown.hpp │ │ │ ├── endianness.hpp │ │ │ ├── macros.hpp │ │ │ ├── portable_types.hpp │ │ │ └── windows.hpp │ │ ├── containers.hpp │ │ ├── containers │ │ │ ├── array.hpp │ │ │ ├── array │ │ │ │ ├── array_dynamic_mem_check.hpp │ │ │ │ ├── array_dynamic_no_mem_check.hpp │ │ │ │ ├── array_mem_check.hpp │ │ │ │ ├── array_no_mem_check.hpp │ │ │ │ ├── converters.hpp │ │ │ │ └── formatters.hpp │ │ │ ├── common │ │ │ │ └── formatters.hpp │ │ │ ├── converters.hpp │ │ │ ├── definitions.hpp │ │ │ ├── fifo.hpp │ │ │ ├── initialiser.hpp │ │ │ ├── push_and_pop.hpp │ │ │ ├── push_and_pop │ │ │ │ ├── formatters.hpp │ │ │ │ ├── push_and_pop_dynamic.hpp │ │ │ │ └── push_and_pop_fixed.hpp │ │ │ ├── stencil.hpp │ │ │ └── stencil │ │ │ │ ├── converters.hpp │ │ │ │ ├── formatters.hpp │ │ │ │ ├── specialisations.hpp │ │ │ │ └── stencil.hpp │ │ ├── converters.hpp │ │ ├── converters │ │ │ ├── char.hpp │ │ │ ├── char_strings.hpp │ │ │ ├── converter.hpp │ │ │ ├── from_byte_array.hpp │ │ │ ├── integers.hpp │ │ │ ├── string.hpp │ │ │ └── to_byte_array.hpp │ │ ├── devices.hpp │ │ ├── devices │ │ │ ├── console.hpp │ │ │ ├── detail │ │ │ │ ├── character_buffer.hpp │ │ │ │ ├── error_handler.hpp │ │ │ │ ├── exception_handler_pos.hpp │ │ │ │ ├── socket_error_handler_pos.hpp │ │ │ │ └── socket_exception_handler_pos.hpp │ │ │ ├── macros.hpp │ │ │ ├── modes.hpp │ │ │ ├── ofile.hpp │ │ │ ├── ofile_pos.hpp │ │ │ ├── ofile_w32.hpp │ │ │ ├── serial.hpp │ │ │ ├── serial_parameters.hpp │ │ │ ├── serial_pos.hpp │ │ │ ├── serial_w32.hpp │ │ │ ├── shared_file.hpp │ │ │ ├── socket.hpp │ │ │ ├── socket_client_pos.hpp │ │ │ ├── socket_connection_status.hpp │ │ │ ├── socket_server_pos.hpp │ │ │ ├── string.hpp │ │ │ └── traits.hpp │ │ ├── eigen.hpp │ │ ├── errors.hpp │ │ ├── errors │ │ │ ├── compile_time_assert.hpp │ │ │ ├── flags.hpp │ │ │ ├── handlers.hpp │ │ │ ├── macros.hpp │ │ │ └── run_time_functions.hpp │ │ ├── exceptions.hpp │ │ ├── exceptions │ │ │ ├── data_exception.hpp │ │ │ ├── exception.hpp │ │ │ ├── macros.hpp │ │ │ ├── posix_error_handler.hpp │ │ │ └── standard_exception.hpp │ │ ├── formatters.hpp │ │ ├── formatters │ │ │ ├── common.hpp │ │ │ ├── floats.hpp │ │ │ ├── macros.hpp │ │ │ ├── number.hpp │ │ │ └── strings.hpp │ │ ├── geometry.hpp │ │ ├── geometry │ │ │ ├── angle.hpp │ │ │ ├── cartesian_point.hpp │ │ │ ├── cubic_spline.hpp │ │ │ ├── function_math.hpp │ │ │ ├── homogeneous_point.hpp │ │ │ ├── linear_segment.hpp │ │ │ ├── macros.hpp │ │ │ ├── pascals_triangle.hpp │ │ │ ├── polynomial.hpp │ │ │ ├── pose.hpp │ │ │ ├── pose2d.hpp │ │ │ ├── pose3d.hpp │ │ │ ├── smooth_linear_spline.hpp │ │ │ ├── spline_function.hpp │ │ │ ├── tension_function.hpp │ │ │ └── tension_spline.hpp │ │ ├── linear_algebra.hpp │ │ ├── linear_algebra │ │ │ ├── eigen.hpp │ │ │ ├── eigen │ │ │ │ ├── formatters.hpp │ │ │ │ ├── plugin.hpp │ │ │ │ └── unsupported │ │ │ │ │ ├── nonlinear_optimization.hpp │ │ │ │ │ └── numerical_diff.hpp │ │ │ ├── sophus.hpp │ │ │ └── sophus │ │ │ │ ├── formatters.hpp │ │ │ │ ├── helpers.hpp │ │ │ │ └── interpolators.hpp │ │ ├── math.hpp │ │ ├── math │ │ │ ├── constants.hpp │ │ │ ├── fuzzy.hpp │ │ │ ├── norms.hpp │ │ │ └── simple.hpp │ │ ├── mobile_robot.hpp │ │ ├── mobile_robot │ │ │ ├── differential_drive.hpp │ │ │ ├── kinematics │ │ │ │ └── differential_drive.hpp │ │ │ └── macros.hpp │ │ ├── mpl.hpp │ │ ├── mpl │ │ │ ├── bool.hpp │ │ │ ├── converters.hpp │ │ │ ├── enable_if.hpp │ │ │ ├── failed_object.hpp │ │ │ └── if.hpp │ │ ├── sigslots.hpp │ │ ├── sigslots │ │ │ ├── macros.hpp │ │ │ ├── manager.hpp │ │ │ ├── signal.hpp │ │ │ ├── sigslot.hpp │ │ │ ├── slot.hpp │ │ │ └── topic.hpp │ │ ├── streams.hpp │ │ ├── streams │ │ │ ├── console_streams.hpp │ │ │ ├── file_streams.hpp │ │ │ ├── log_stream.hpp │ │ │ ├── macros.hpp │ │ │ ├── manipulators.hpp │ │ │ ├── manipulators │ │ │ │ ├── clear_screen.hpp │ │ │ │ ├── end_of_line.hpp │ │ │ │ └── manipulator.hpp │ │ │ ├── serial_stream.hpp │ │ │ ├── shared_file_stream.hpp │ │ │ ├── socket_streams.hpp │ │ │ ├── string_stream.hpp │ │ │ ├── text_stream.hpp │ │ │ └── text_streams │ │ │ │ ├── base_text_stream.hpp │ │ │ │ ├── input_text_stream.hpp │ │ │ │ └── output_text_stream.hpp │ │ ├── threads.hpp │ │ ├── threads │ │ │ ├── macros.hpp │ │ │ ├── mutex.hpp │ │ │ ├── mutex_pos.hpp │ │ │ ├── mutex_w32.hpp │ │ │ ├── priority.hpp │ │ │ ├── priority_common.hpp │ │ │ ├── priority_pos.hpp │ │ │ ├── priority_win.hpp │ │ │ ├── thread.hpp │ │ │ ├── thread_exceptions_pos.hpp │ │ │ ├── thread_pos.hpp │ │ │ ├── thread_win.hpp │ │ │ └── threadable.hpp │ │ ├── time.hpp │ │ ├── time │ │ │ ├── cpuwatch.hpp │ │ │ ├── cpuwatch_rt.hpp │ │ │ ├── duration.hpp │ │ │ ├── frequency.hpp │ │ │ ├── macros.hpp │ │ │ ├── random_number_generator.hpp │ │ │ ├── sleep.hpp │ │ │ ├── sleep_pos.hpp │ │ │ ├── sleep_win.hpp │ │ │ ├── snooze.hpp │ │ │ ├── snooze_pos.hpp │ │ │ ├── snooze_win.hpp │ │ │ ├── stopwatch.hpp │ │ │ ├── time_data.hpp │ │ │ ├── timestamp.hpp │ │ │ ├── timestamp_base.hpp │ │ │ ├── timestamp_pos.hpp │ │ │ └── timestamp_win.hpp │ │ ├── time_lite.hpp │ │ ├── time_lite │ │ │ ├── config.hpp │ │ │ ├── cpu_time.hpp │ │ │ ├── date.hpp │ │ │ ├── errors.hpp │ │ │ ├── functions.hpp │ │ │ ├── functions_mac.hpp │ │ │ ├── functions_pos.hpp │ │ │ ├── functions_rt.hpp │ │ │ ├── functions_win.hpp │ │ │ ├── macros.hpp │ │ │ ├── types.hpp │ │ │ ├── types_pos.hpp │ │ │ └── types_win.hpp │ │ ├── type_traits.hpp │ │ ├── type_traits │ │ │ ├── fundamental_types.hpp │ │ │ ├── macros.hpp │ │ │ ├── numeric_limits.hpp │ │ │ └── traits.hpp │ │ ├── utilities.hpp │ │ └── utilities │ │ │ ├── blueprints.hpp │ │ │ ├── flags.hpp │ │ │ ├── function_objects.hpp │ │ │ ├── parameter.hpp │ │ │ ├── references.hpp │ │ │ ├── singleton.hpp │ │ │ └── void.hpp │ └── xbot_node │ │ ├── diagnostics_1.hpp │ │ ├── odometry.hpp │ │ └── xbot_ros.hpp ├── package.xml ├── param │ └── base.yaml ├── plugins │ └── nodelet_plugins.xml ├── scripts │ ├── getOdom2D.py │ └── getYaw.py └── src │ ├── CMakeLists.txt │ ├── library │ ├── CMakeLists.txt │ ├── odometry.cpp │ ├── slot_callbacks.cpp │ ├── subscriber_callbacks.cpp │ └── xbot_ros.cpp │ ├── nodelet │ ├── CMakeLists.txt │ └── xbot_nodelet.cpp │ └── tools │ ├── CMakeLists.txt │ └── debugTopics.cpp ├── xbot_safety_controller ├── CMakeLists.txt ├── README.md ├── include │ └── xbot_safety_controller │ │ └── safety_controller.hpp ├── launch │ └── standalone.launch ├── package.xml ├── plugins │ └── nodelet_plugins.xml └── src │ └── nodelet.cpp ├── xbot_talker ├── .gitignore ├── CMakeLists.txt ├── README.md ├── bootstrap.sh ├── defaultconfig │ ├── answer_dic.csv │ ├── audio │ │ ├── age_two_channel.pcm │ │ ├── awaken.pcm │ │ ├── awaken_two.pcm │ │ ├── call.wav │ │ ├── check_answer_config.wav │ │ ├── default_tts_test.wav │ │ ├── donot_know.wav │ │ ├── dontknow.wav │ │ ├── low_SC.wav │ │ ├── nihao_test.pcm │ │ ├── non_talker.wav │ │ ├── none_speech.wav │ │ ├── restart_awaken.wav │ │ ├── sorry.wav │ │ ├── wozai.wav │ │ └── zaine.wav │ ├── dialogue_config.json │ ├── grammar.bnf │ ├── json │ │ ├── action.json │ │ ├── action_mode.json │ │ └── dialogue.json │ ├── meta_vad_16k.jet │ └── msc │ │ ├── msc.cfg │ │ └── res │ │ ├── asr │ │ └── common.jet │ │ ├── ivw │ │ └── wakeupresource.jet │ │ └── tts │ │ ├── common.jet │ │ ├── xiaofeng.jet │ │ └── xiaoyan.jet ├── doc │ ├── description_of_each_module.md │ ├── how_to_modify_QA_library.md │ ├── image │ │ ├── 01.png │ │ ├── 02.png │ │ ├── action.png │ │ ├── actionmode.png │ │ ├── answer.png │ │ ├── awak1.png │ │ ├── awak2.png │ │ ├── change1.png │ │ ├── change2.png │ │ ├── change3.png │ │ ├── chat.png │ │ ├── grammar.png │ │ ├── history_record.png │ │ ├── roolback_failed.png │ │ ├── roolback_succeed.png │ │ ├── save dialogue.png │ │ ├── toc.png │ │ └── xbot_talker.png │ └── old_README.md ├── include │ ├── asr │ │ ├── baidu │ │ │ └── asr_online.h │ │ └── xunfei │ │ │ ├── BuildGrammar.h │ │ │ ├── msp_cmn.h │ │ │ ├── msp_errors.h │ │ │ ├── msp_types.h │ │ │ ├── qise.h │ │ │ ├── qisr.h │ │ │ ├── qivw.h │ │ │ ├── qtts.h │ │ │ └── xfei_speech_recog.h │ ├── awaken │ │ └── awaken_offline.h │ ├── common_config.h │ ├── file_operation.h │ ├── formats.h │ ├── linuxrec.h │ ├── nlp │ │ └── nlp_feedback.h │ ├── rapidjson │ │ ├── allocators.h │ │ ├── cursorstreamwrapper.h │ │ ├── document.h │ │ ├── encodedstream.h │ │ ├── encodings.h │ │ ├── error │ │ │ ├── en.h │ │ │ └── error.h │ │ ├── filereadstream.h │ │ ├── filewritestream.h │ │ ├── fwd.h │ │ ├── internal │ │ │ ├── biginteger.h │ │ │ ├── diyfp.h │ │ │ ├── dtoa.h │ │ │ ├── ieee754.h │ │ │ ├── itoa.h │ │ │ ├── meta.h │ │ │ ├── pow10.h │ │ │ ├── regex.h │ │ │ ├── stack.h │ │ │ ├── strfunc.h │ │ │ ├── strtod.h │ │ │ └── swap.h │ │ ├── istreamwrapper.h │ │ ├── memorybuffer.h │ │ ├── memorystream.h │ │ ├── msinttypes │ │ │ ├── inttypes.h │ │ │ └── stdint.h │ │ ├── ostreamwrapper.h │ │ ├── pointer.h │ │ ├── prettywriter.h │ │ ├── rapidjson.h │ │ ├── reader.h │ │ ├── schema.h │ │ ├── stream.h │ │ ├── stringbuffer.h │ │ └── writer.h │ ├── ros │ │ └── xbot_talker_ros.h │ └── tts │ │ └── text_to_speech.h ├── launch │ ├── asr_module.launch │ ├── awaken_module.launch │ ├── nlp_module.launch │ ├── talker.launch │ ├── tts_module.launch │ └── xbot_talker.launch ├── lib │ └── libmsc.so ├── msg │ ├── action.msg │ ├── action_ros.msg │ ├── actionmode.msg │ ├── actionmode_ros.msg │ ├── awaken_status.msg │ ├── dialogue.msg │ ├── dialogue_ros.msg │ ├── online_asr_result.msg │ └── recog_result.msg ├── package.xml ├── scripts │ ├── dialogue_configuration.py │ ├── plot.py │ └── voice_control.py ├── sdk_examples │ ├── baidu_asr_example │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── baidu_asr_example.cpp │ │ └── build_and_run.sh │ ├── tuling_robot_example │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── build_and_run.sh │ │ └── tuling_robot_example.cpp │ ├── xfei_asr_example │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── asr_example.cpp │ │ └── build_and_run.sh │ ├── xfei_awaken_example │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── awaken_offline_example.cpp │ │ └── build_and_run.sh │ └── xfei_tts_example │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── build_and_run.sh │ │ └── tts_example.cpp ├── setCacheFile.sh ├── src │ ├── library │ │ ├── asr_online.cpp │ │ ├── awaken_offline.cpp │ │ ├── build_xunfei_grammar.cpp │ │ ├── common_config.cpp │ │ ├── file_operation.cpp │ │ ├── linuxrec.cpp │ │ ├── nlp_feedback.cpp │ │ ├── text_to_speech.cpp │ │ └── xfei_speech_recog.cpp │ └── ros │ │ ├── asr_module.cpp │ │ ├── awaken_module.cpp │ │ ├── nlp_module.cpp │ │ ├── tts_module.cpp │ │ └── xbot_talker_ros.cpp ├── srv │ ├── CallChat.srv │ ├── CallPlay.srv │ ├── CallVersion.srv │ ├── EnableASR.srv │ ├── XbotTts.srv │ ├── add_dialogue.srv │ ├── call_action.srv │ ├── call_actionmode.srv │ ├── call_asr.srv │ ├── chat.srv │ ├── deploy_dialogue.srv │ ├── history_record.srv │ ├── keyword_config.srv │ ├── nlpdialog_config.srv │ ├── play.srv │ └── roolback_dialogue.srv └── tests │ ├── README.md │ ├── asr_test │ ├── AsrTestReadme.md │ ├── launch │ │ ├── mic_recog.launch │ │ ├── one_channel_recog.launch │ │ ├── two_channel_recog.launch │ │ └── usefiles-asr.launch │ └── read_all_files_and_recog.cpp │ └── nlp_test │ ├── NlpTestReadme.md │ ├── img │ └── tuling1.png │ └── tuling_test.cpp └── xbot_tools ├── CMakeLists.txt ├── README.md ├── package.xml ├── scripts ├── const_dist_move.py ├── forward.py ├── keyboard_teleop.py ├── odom2yaw.py ├── pub_topic.py ├── pycamera.py ├── q4torpy.py └── rotate.py └── src ├── CMakeLists.txt ├── camera_pusher.cpp └── kalman_filter.cpp /.gitlab-ci.yml: -------------------------------------------------------------------------------- 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