├── .gitignore ├── .travis.yml ├── Dependencies.md ├── LICENSE ├── README.md ├── arrow_table_commander ├── CMakeLists.txt ├── include │ └── arrow_table_commander │ │ └── arrow_table_commander.h ├── launch │ └── arrow_table_commander.launch ├── package.xml └── src │ └── arrow_table_commander.cpp ├── bezier_path_planning_pursuit ├── CMakeLists.txt ├── README.md ├── action │ └── PursuitPath.action ├── launch │ └── bezier_path_planning_pursuit.launch ├── package.xml └── src │ ├── Matrix │ ├── CMakeLists.txt │ ├── matrix.cpp │ └── matrix.h │ ├── main.cpp │ ├── path_planner.h │ └── path_planning │ ├── CMakeLists.txt │ ├── path_planning.cpp │ └── path_planning.h ├── install.sh ├── joy_commander ├── CMakeLists.txt ├── README.md ├── include │ └── joy_commander │ │ └── joy_commander.h ├── package.xml └── src │ └── joy_commander.cpp ├── key_config.png ├── nhk2021_launcher ├── CMakeLists.txt ├── README.md ├── config │ ├── ekf_localization │ │ └── ekf_params.yaml │ ├── laser_filter │ │ ├── laser_filter_DR.yaml │ │ └── laser_filter_TR.yaml │ ├── map │ │ ├── map.pgm │ │ └── map.yaml │ └── waypoints │ │ ├── DR │ │ ├── 1.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ └── 5.csv │ │ └── TR │ │ ├── 1.csv │ │ ├── 2.csv │ │ ├── 3.csv │ │ ├── 4.csv │ │ └── 5.csv ├── launch │ ├── DR │ │ ├── bringup │ │ │ ├── activate_baffle_over_driver.launch │ │ │ ├── activate_wheel_DR.launch │ │ │ ├── bringup_DR.launch │ │ │ └── sensor_activate_DR.launch │ │ └── control_DR.launch │ ├── TR │ │ ├── bringup │ │ │ ├── activate_arrow_thrower.launch │ │ │ ├── activate_wheel_TR.launch │ │ │ ├── bringup_TR.launch │ │ │ └── sensor_activate_TR.launch │ │ └── control_TR.launch │ └── common │ │ ├── localization │ │ ├── amcl.launch │ │ ├── ekf_localization.launch │ │ └── laser_filters.launch │ │ └── rosbag │ │ └── rosbag_play.launch ├── nhk2021_launcher.rosinstall ├── package.xml ├── scripts │ ├── arrow_thrower_emergency_stopper.py │ ├── baffle_over_flag_pub.py │ └── task_selector.py └── urdf │ ├── DR.urdf │ └── TR.urdf ├── nhk2021_simulator ├── CMakeLists.txt ├── README.md ├── config │ ├── diff_drive_controller.yaml │ ├── gmapping.yaml │ ├── joint_state_controller.yaml │ ├── localization.rviz │ ├── move_robot.rviz │ ├── simulation.rviz │ └── swerve_controller.yaml ├── launch │ ├── 4wd_mecanum_simulation_DR.launch │ ├── 4wd_mecanum_simulation_TR.launch │ ├── diff_drive_simulation.launch │ ├── gmapping.launch │ ├── swerve_simulation_DR.launch │ └── swerve_simulation_TR.launch ├── models │ ├── abu2021-field-assembly_v1 │ │ ├── materials │ │ │ ├── pot_texture.material │ │ │ ├── pot_texture.png │ │ │ └── pot_texture.png:Zone.Identifier │ │ ├── meshes │ │ │ ├── abu2021-bot1_v1.stl │ │ │ ├── abu2021-bot2_v1.stl │ │ │ ├── abu2021-bot3_v1.stl │ │ │ └── abu2021-field_v1.stl │ │ ├── model.config │ │ └── model.sdf │ └── field_assem_v1 │ │ ├── materials │ │ ├── pot_texture_blue.material │ │ ├── pot_texture_blue.png │ │ ├── pot_texture_red.material │ │ └── pot_texture_red.png │ │ ├── meshes │ │ ├── base_pack.stl │ │ ├── pot1_body_v1.stl │ │ ├── pot23_base_top_v1.stl │ │ ├── pot2_body_v1.stl │ │ └── pot3_body_v1.stl │ │ ├── model.config │ │ └── model.sdf ├── nhk2021_simulator.rosinstall ├── package.xml ├── src │ └── odom_tf_publisher.cpp ├── urdf │ ├── _d435.gazebo.xacro │ ├── _d435.urdf.xacro │ ├── body.urdf.xacro │ ├── diff_robot.urdf.xacro │ ├── imu.urdf.xacro │ ├── lidar.urdf.xacro │ ├── mecanum_robot.urdf.xacro │ ├── swerve_body.urdf.xacro │ ├── swerve_robot.urdf.xacro │ ├── swerve_wheel.urdf.xacro │ └── wheel.urdf.xacro └── worlds │ └── nhk2021.world ├── nhk2021_webgui ├── CMakeLists.txt ├── README.md ├── launch │ └── server.launch ├── nhk2021_webgui.rosinstall ├── package.xml └── www │ ├── WebGUI.html │ └── style.css └── pot_position_estimator ├── CMakeLists.txt ├── package.xml └── scripts ├── depth_checker.ipynb ├── estimate_pot_position.py ├── extract_pot_region.ipynb ├── image_crop.py └── processed.png /.gitignore: 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