├── .gitignore ├── README.md ├── jenkins-pipeline ├── odometry_conversion ├── CMakeLists.txt ├── include │ └── odometry_conversion │ │ └── OdometryConversion.hpp ├── launch │ └── tracking_camera_sim.launch ├── package.xml └── src │ ├── OdometryConversion.cpp │ └── odometry_conversion_node.cpp ├── record_sensors.sh ├── smb ├── CMakeLists.txt ├── config │ ├── smb261_cam0.yaml │ ├── smb262_cam0.yaml │ ├── smb263_cam0.yaml │ ├── smb264_cam0.yaml │ ├── tracking_camera_config.json │ └── tracking_camera_rear_config.json ├── launch │ ├── sensors.launch │ └── smb.launch └── package.xml ├── smb_control ├── CMakeLists.txt ├── config │ ├── PIDConfig.cfg │ ├── gazebo_control.yaml │ ├── smb_control.yaml │ ├── teleop_logitech.yaml │ ├── teleop_ps4.yaml │ └── twist_mux.yaml ├── include │ └── smb_control │ │ └── PIDControllerNode.hpp ├── launch │ ├── smb_control.launch │ ├── start_ekf_reconfigure.launch │ └── teleop.launch ├── package.xml └── src │ ├── PIDControllerNode.cpp │ ├── ekf_restarter.py │ └── joy_e_stop_node.py ├── smb_description ├── CMakeLists.txt ├── README.md ├── bin │ └── generate_urdf.sh ├── config │ └── realsense_t265_odometry_calibration.json ├── launch │ ├── debug.launch │ └── load.launch ├── package.xml ├── resources │ └── smb.urdf ├── rviz │ └── smb_description.rviz └── urdf │ ├── meshes │ └── wheel.dae │ ├── new_payload │ └── meshes │ │ ├── LidarBoxV2.dae │ │ ├── SMB_blackfly_camera.dae │ │ ├── SMB_blackfly_camera.stl │ │ ├── SMB_imu.dae │ │ ├── SMB_imu.stl │ │ ├── SMB_lidar_mount.dae │ │ ├── SMB_lidar_mount.stl │ │ ├── SMB_step.dae │ │ └── SMB_step.stl │ ├── realsense_t265.urdf.xacro │ ├── sensor_plugins │ ├── smb_depth.gazebo.xacro │ ├── smb_gps.gazebo.xacro │ ├── smb_imu.gazebo.xacro │ ├── smb_odometry.gazebo.xacro │ ├── smb_rgb_camera.gazebo.xacro │ └── smb_robosense.gazebo.xacro │ ├── smb.urdf.xacro │ ├── smb_big_properties.urdf.xacro │ ├── smb_gazebo_addins.urdf.xacro │ ├── smb_lidar_mount.urdf.xacro │ ├── smb_properties.urdf.xacro │ ├── smb_rgb_camera.urdf.xacro │ ├── smb_ros_control.gazebo.xacro │ ├── smb_standalone.urdf.xacro │ ├── smb_utils.urdf.xacro │ └── temp │ └── smb.urdf.xacro ├── smb_exploration ├── CMakeLists.txt ├── README.md ├── config │ ├── gbplanner │ │ ├── rviz │ │ │ └── smb.rviz │ │ └── smb │ │ │ ├── gbplanner_config.yaml │ │ │ ├── planner_control_interface_sim_config.yaml │ │ │ └── voxblox_sim_config.yaml │ └── global_costmap_exploration.yaml ├── include │ └── smb_exploration │ │ └── ExplorationMap.h ├── launch │ ├── cmu │ │ └── smb_rss_tare.launch │ ├── frontier │ │ └── smb_rss_frontier.launch │ └── gbplanner │ │ └── smb_rss_gbplanner.launch ├── package.xml └── src │ ├── ExplorationMap.cpp │ └── exploration_map_node.cpp ├── smb_gazebo ├── CMakeLists.txt ├── README.md ├── include │ └── smb_gazebo │ │ └── OdometrySource.hpp ├── launch │ ├── sim.launch │ └── smb_gazebo.launch ├── package.xml ├── src │ └── OdometrySource.cpp └── worlds │ ├── WaA.world │ ├── big_map_summer_school.world │ ├── empty.world │ ├── epeisses_indoors.world │ ├── epeisses_indoors_closed.world │ └── planner_tutorial.world ├── smb_lowlevel_controller ├── readme.md ├── smb_driver │ ├── CMakeLists.txt │ ├── Readme.md │ ├── include │ │ └── smb_driver │ │ │ ├── Constants.h │ │ │ ├── ErrorCodes.h │ │ │ ├── RoboteqDevice.h │ │ │ ├── SmbController.h │ │ │ └── auxiliaries │ │ │ └── interProcessCommunication.h │ ├── package.xml │ ├── readme.md │ ├── src │ │ ├── RoboteqDevice.cpp │ │ ├── SmbController.cpp │ │ └── auxiliaries │ │ │ └── interProcessCommunication.cpp │ ├── test │ │ ├── ControllerTest.cpp │ │ ├── SerialTest.cpp │ │ ├── StopMB.cpp │ │ ├── TrqModeTest.cpp │ │ └── color.hpp │ └── udev │ │ └── 55-smb.rules └── smb_lowlevel_controller │ ├── CMakeLists.txt │ ├── config │ ├── controllers.yaml │ ├── hardware.yaml │ └── joint_limits.yaml │ ├── include │ └── smb_lowlevel_controller │ │ ├── SmbHWInterface.hpp │ │ └── SmbModes.hpp │ ├── launch │ └── smb_lowlevel_controller.launch │ ├── package.xml │ └── src │ ├── SmbHWInterface.cpp │ └── smb_lowlevel_controller_node.cpp ├── smb_mpc ├── .gitignore ├── CMakeLists.txt ├── config │ ├── parameters.yaml │ └── task.info ├── include │ └── smb_mpc │ │ ├── SmbController.hpp │ │ ├── SmbConversions.h │ │ ├── SmbCost.h │ │ ├── SmbDefinitions.h │ │ ├── SmbInterface.h │ │ └── SmbSystemDynamics.h ├── launch │ └── mpc.launch ├── package.xml ├── src │ ├── SmbController.cpp │ ├── SmbConversions.cpp │ ├── SmbDefinitions.cpp │ ├── SmbInterface.cpp │ ├── SmbSystemDynamics.cpp │ ├── cost │ │ └── SmbCost.cpp │ ├── mpc_path_publisher.py │ ├── smb_controller_node.cpp │ └── smb_mpc_node.cpp └── test │ └── TestSmbInterface.cpp ├── smb_msf_ekf ├── CMakeLists.txt ├── launch │ ├── plotting.launch │ └── smb_msf.launch ├── package.xml ├── param │ └── smb_msf_params.yaml ├── rviz │ └── smb.rviz ├── setup.py └── smb_msf │ ├── imu_noisifier.py │ ├── plotting_node.py │ └── pose_noisifier.py ├── smb_msf_graph ├── CMakeLists.txt ├── README.md ├── launch │ ├── smb_msf_graph.launch │ 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