├── LICENSE ├── README.md ├── SLAM_ROS_Stack.png ├── global_mapper ├── CMakeLists.txt ├── launch │ ├── global.launch │ └── map_test.launch ├── package.xml └── src │ └── global_mapper_node.cpp ├── img_to_laser ├── CMakeLists.txt ├── img_to_laser.png ├── launch │ └── img_to_laser.launch ├── package.xml └── src │ └── img_to_laser_node.cpp ├── img_to_pcloud ├── CMakeLists.txt ├── package.xml └── src │ └── img_to_pcloud.cpp ├── latlong_to_utm ├── UTM.cpp ├── UTM.h └── latlong_to_utm.cpp ├── lidar_mapping ├── CMakeLists.txt ├── launch │ └── lidar_mapping.launch ├── package.xml ├── rviz │ └── lidar_mapping.rviz └── src │ └── lidar_mapping.cpp ├── local_mapping ├── CMakeLists.txt ├── include │ ├── local_mapper.cxx │ └── local_mapper.h ├── launch │ ├── .map_test.launch.swp │ ├── local.launch │ └── map_test.launch ├── package.xml └── src │ └── local_mapping_node.cxx ├── robot_localization ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc │ ├── .templates │ │ └── full_globaltoc.html │ ├── CHANGELOG.rst │ ├── Makefile │ ├── conf.py │ ├── configuring_robot_localization.rst │ ├── images │ │ ├── figure1.png │ │ └── rl_small.png │ ├── index.rst │ ├── integrating_gps.rst │ ├── manifest.yaml │ ├── migrating_from_robot_pose_ekf.rst │ ├── navsat_transform_node.rst │ ├── preparing_sensor_data.rst │ ├── robot_localization_ias13_revised.pdf │ └── state_estimation_nodes.rst ├── include │ └── robot_localization │ │ ├── ekf.h │ │ ├── filter_base.h │ │ ├── filter_common.h │ │ ├── filter_utilities.h │ │ ├── navsat_conversions.h │ │ ├── navsat_transform.h │ │ ├── robot_localization_estimator.h │ │ ├── ros_filter.h │ │ ├── ros_filter_types.h │ │ ├── ros_filter_utilities.h │ │ ├── ros_robot_localization_listener.h │ │ └── ukf.h ├── launch │ ├── dual_ekf_navsat_example.launch │ ├── ekf_template.launch │ ├── navsat_transform_template.launch │ ├── sensor_fusion.launch │ ├── sensor_fusion_0.launch │ ├── sensor_fusion_1.launch │ ├── sensor_fusion_2.launch │ └── ukf_template.launch ├── package.xml ├── params │ ├── dual_ekf_navsat_example.yaml │ ├── ekf_template.yaml │ ├── firebird_delta_navsat_transform.yaml │ ├── firebird_delta_ukf.yaml │ ├── firebird_delta_ukf_gps.yaml │ ├── navsat_transform_template.yaml │ └── ukf_template.yaml ├── rosdoc.yaml ├── rviz │ ├── robot_view.rviz │ ├── sensor_fusion.rviz │ └── top_view.rviz ├── scripts │ └── sensor_fusion.sh ├── src │ ├── ekf.cpp │ ├── ekf_localization_node.cpp │ ├── filter_base.cpp │ ├── filter_utilities.cpp │ ├── navsat_transform.cpp │ ├── navsat_transform_node.cpp │ ├── robot_localization_estimator.cpp │ ├── robot_localization_listener_node.cpp │ ├── ros_filter.cpp │ ├── ros_filter_utilities.cpp │ ├── ros_robot_localization_listener.cpp │ ├── ukf.cpp │ └── ukf_localization_node.cpp ├── srv │ ├── GetState.srv │ ├── SetDatum.srv │ └── SetPose.srv └── test │ ├── record_all_stats.sh │ ├── stat_recorder.sh │ ├── test1.bag │ ├── test2.bag │ ├── test3.bag │ ├── test_ekf.cpp │ ├── test_ekf.test │ ├── test_ekf_localization_node_bag1.test │ ├── test_ekf_localization_node_bag2.test │ ├── test_ekf_localization_node_bag3.test │ ├── test_ekf_localization_node_interfaces.cpp │ ├── test_ekf_localization_node_interfaces.test │ ├── test_filter_base.cpp │ ├── test_filter_base_diagnostics_timestamps.cpp │ ├── test_filter_base_diagnostics_timestamps.test │ ├── test_localization_node_bag_pose_tester.cpp │ ├── test_robot_localization_estimator.cpp │ ├── test_robot_localization_estimator.test │ ├── test_ros_robot_localization_listener.cpp │ ├── test_ros_robot_localization_listener.test │ ├── test_ros_robot_localization_listener_publisher.cpp │ ├── test_ukf.cpp │ ├── test_ukf.test │ ├── test_ukf_localization_node_bag1.test │ ├── test_ukf_localization_node_bag2.test │ ├── test_ukf_localization_node_bag3.test │ ├── test_ukf_localization_node_interfaces.cpp │ └── test_ukf_localization_node_interfaces.test ├── ros0xrobot ├── CMakeLists.txt ├── docs │ └── ROS0xRobot Manual.pdf ├── launch │ ├── ros0xrobot_IRRangeSensor.launch │ ├── ros0xrobot_all.launch │ ├── ros0xrobot_gps.launch │ ├── ros0xrobot_hokuyo.launch │ ├── ros0xrobot_imu.launch │ ├── ros0xrobot_imu_nex.launch │ ├── ros0xrobot_imu_razor.launch │ ├── ros0xrobot_lms1xx.launch │ ├── ros0xrobot_minimal.launch │ ├── ros0xrobot_navigation.launch │ ├── ros0xrobot_sonar.launch │ └── ros0xrobot_teleop.launch ├── lib │ └── lib0xRobotCPPLibrary.so ├── msg │ └── gpOutStatus.msg ├── package.xml └── src │ ├── 0xRobotcpplib.h │ └── ros0xRobotNode.cpp ├── rplidar_ros ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── launch │ ├── firebird_delta_rplidar.launch │ ├── rplidar.launch │ ├── rplidar_a3.launch │ ├── rplidar_s1.launch │ ├── rplidar_s1_tcp.launch │ ├── test_rplidar.launch │ ├── test_rplidar_a3.launch │ ├── view_rplidar.launch │ ├── view_rplidar_a3.launch │ ├── view_rplidar_s1.launch │ └── view_rplidar_s1_tcp.launch ├── package.xml ├── rplidar_A1.png ├── rplidar_A2.png ├── rviz │ └── rplidar.rviz ├── scripts │ ├── create_udev_rules.sh │ ├── delete_udev_rules.sh │ └── rplidar.rules ├── sdk │ ├── README.txt │ ├── include │ │ ├── rplidar.h │ │ ├── rplidar_cmd.h │ │ ├── rplidar_driver.h │ │ ├── rplidar_protocol.h │ │ └── rptypes.h │ └── src │ │ ├── arch │ │ ├── linux │ │ │ ├── arch_linux.h │ │ │ ├── net_serial.cpp │ │ │ ├── net_serial.h │ │ │ ├── net_socket.cpp │ │ │ ├── thread.hpp │ │ │ ├── timer.cpp │ │ │ └── timer.h │ │ ├── macOS │ │ │ ├── arch_macOS.h │ │ │ ├── net_serial.cpp │ │ │ ├── net_serial.h │ │ │ ├── net_socket.cpp │ │ │ ├── thread.hpp │ │ │ ├── timer.cpp │ │ │ └── timer.h │ │ └── win32 │ │ │ ├── arch_win32.h │ │ │ ├── net_serial.cpp │ │ │ ├── net_serial.h │ │ │ ├── net_socket.cpp │ │ │ ├── timer.cpp │ │ │ ├── timer.h │ │ │ └── winthread.hpp │ │ ├── hal │ │ ├── abs_rxtx.h │ │ ├── assert.h │ │ ├── byteops.h │ │ ├── event.h │ │ ├── locker.h │ │ ├── socket.h │ │ ├── thread.cpp │ │ ├── thread.h │ │ ├── types.h │ │ └── util.h │ │ ├── rplidar_driver.cpp │ │ ├── rplidar_driver_TCP.h │ │ 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