├── .devcontainer ├── Dockerfile ├── devcontainer.json ├── install.sh ├── lcas.repos └── run.sh ├── .github └── workflows │ └── ci.yaml ├── .gitignore ├── LICENSE ├── README.md ├── topological_navigation ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── __init__.py ├── config │ ├── bt_tree_default.xml │ ├── bt_tree_goal_align.xml │ ├── bt_tree_in_row.xml │ ├── bt_tree_in_row_operation.xml │ ├── bt_tree_in_row_recovery.xml │ ├── navigation_goal.yaml │ ├── sample_edge_reconfig_groups.yaml │ ├── template_edge.yaml │ ├── template_node_2.yaml │ └── tmap-schema.yaml ├── cyclonedds.log ├── launch │ ├── manual_topomapping.launch.py │ ├── minimal_topological_navigation.launch │ ├── reconf_at_edges_server.launch │ ├── topo_nav_global.launch │ ├── topo_nav_local.launch │ ├── topological_map_visualise.launch │ ├── topological_navigation.launch │ ├── topological_navigation_empty_map.launch │ └── topological_restrictions_multirobot.launch ├── package.xml ├── resource │ └── topological_navigation ├── setup.cfg ├── setup.py ├── test │ ├── conf │ │ └── network_autogen.tmap2.yaml │ ├── static_transformer.py │ └── test_navigationcore.py ├── tests │ ├── README.md │ ├── conf │ │ ├── scenario_server.yaml │ │ └── test.tmap2 │ ├── map_manager.test │ ├── map_manager_tester.py │ ├── navigation_scenarios.test │ ├── navigation_test_joypad_control.py │ ├── scenario_server.py │ ├── topological_navigation_tester_critical.py │ ├── topological_navigation_tester_supplementary.py │ ├── travel_time_estimator.test │ └── travel_time_tester.py └── topological_navigation │ ├── __init__.py │ ├── edge_action_manager.py │ ├── edge_action_manager2.py │ ├── edge_controller.py │ ├── edge_reconfigure_manager.py │ ├── edge_reconfigure_manager2.py │ ├── edge_std.py │ ├── goto.py │ ├── load_maps_from_yaml.py │ ├── manager.py │ ├── manager2.py │ ├── map_marker.py │ ├── marker_arrays.py │ ├── navigation_stats.py │ ├── node_controller.py │ ├── node_manager.py │ ├── point2line.py │ ├── policies.py │ ├── policy_marker.py │ ├── policy_marker2.py │ ├── publisher.py │ ├── restrictions_impl.py │ ├── route_search.py │ ├── route_search2.py │ ├── scripts │ ├── __init__.py │ ├── actions_bt.py │ ├── evaluate_top_pred.py │ ├── get_simple_policy.py │ ├── get_simple_policy2.py │ ├── in_row_operations.py │ ├── localisation.py │ ├── localisation2.py │ ├── manual_edge_predictions.py │ ├── manual_topomapping.py │ ├── map_manager.py │ ├── map_manager2.py │ ├── map_publisher.py │ ├── mean_based_prediction.py │ ├── nav_client.py │ ├── navigation.py │ ├── navigation2.py │ ├── navstats_logger.py │ ├── occupancy_checker.py │ ├── param_processing.py │ ├── reconf_at_edges_server.py │ ├── restrictions_manager.py │ ├── search_route.py │ ├── speed_based_prediction.py │ ├── topological_prediction.py │ ├── topological_transform_publisher.py │ ├── topological_visual.py │ ├── travel_time_estimator.py │ ├── visualise_map.py │ ├── visualise_map2.py │ └── visualise_map_ros2.py │ ├── testing.py │ ├── tmap_utils.py │ ├── topological_map.py │ ├── topological_node.py │ ├── topomap_marker.py │ ├── topomap_marker2.py │ └── vertex_controller.py ├── topological_navigation_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── action │ ├── BuildTopPrediction.action │ ├── ExecutePolicyMode.action │ └── GotoNode.action ├── msg │ ├── AddEdgeReq.msg │ ├── AddNodeReq.msg │ ├── ClosestEdges.msg │ ├── CurrentEdge.msg │ ├── Edge.msg │ ├── ExecutePolicyModeFeedback.msg │ ├── ExecutePolicyModeGoal.msg │ ├── GotoNodeFeedback.msg │ ├── NavRoute.msg │ ├── NavStatistics.msg │ ├── SetInfluenceZoneReq.msg │ ├── TopologicalMap.msg │ ├── TopologicalNode.msg │ ├── TopologicalOccupiedNode.msg │ ├── TopologicalRoute.msg │ ├── UpdateEdgeConfigReq.msg │ └── Vertex.msg ├── package.xml └── srv │ ├── AddContent.srv │ ├── AddDatum.srv │ ├── AddEdge.srv │ ├── AddEdgeArray.srv │ ├── AddEdgeRviz.srv │ ├── AddNode.srv │ ├── AddNodeArray.srv │ ├── AddTag.srv │ ├── EstimateTravelTime.srv │ ├── EvaluateEdge.srv │ ├── EvaluateNode.srv │ ├── GetEdgesBetweenNodes.srv │ ├── GetNodeTags.srv │ ├── GetRouteBetween.srv │ ├── GetRouteTo.srv │ ├── GetTaggedNodes.srv │ ├── GetTags.srv │ ├── GetTopologicalMap.srv │ ├── LoadTopoNavTestScenario.srv │ ├── LocalisePose.srv │ ├── ModifyTag.srv │ ├── NodeMetadata.srv │ ├── PredictEdgeState.srv │ ├── ReconfAtEdges.srv │ ├── RestrictMap.srv │ ├── RmvNode.srv │ ├── RunTopoNavTestScenario.srv │ ├── SetInfluenceZone.srv │ ├── SetInfluenceZoneArray.srv │ ├── UpdateAction.srv │ ├── UpdateEdge.srv │ ├── UpdateEdgeConfig.srv │ ├── UpdateEdgeConfigArray.srv │ ├── UpdateEdgeLegacy.srv │ ├── UpdateFailPolicy.srv │ ├── UpdateNodeName.srv │ ├── UpdateNodeTolerance.srv │ ├── UpdateRestrictions.srv │ └── WriteTopologicalMap.srv ├── topological_rviz_tools ├── CHANGELOG.rst ├── CMakeLists.txt ├── COLCON_IGNORE ├── LICENSE ├── README.md ├── conf │ └── topological_rviz_tools.rviz ├── images │ ├── 00_annotated.png │ └── 00_annotated.xcf ├── include │ └── topological_rviz_tools │ │ ├── edge_controller.hpp │ │ ├── edge_property.hpp │ │ ├── node_controller.hpp │ │ ├── node_property.hpp │ │ ├── pose_property.hpp │ │ ├── tag_controller.hpp │ │ ├── tag_property.hpp │ │ ├── topmap_manager.hpp │ │ ├── topological_edge_tool.hpp │ │ ├── topological_map_panel.hpp │ │ └── topological_node_tool.hpp ├── launch │ └── strands_rviz_topmap.launch ├── package.xml ├── plugin_description.xml ├── scripts │ └── python_topmap_interface.py ├── setup.py └── src │ ├── edge_controller.cpp │ ├── edge_property.cpp │ ├── node_controller.cpp │ ├── node_property.cpp │ ├── pose_property.cpp │ ├── tag_controller.cpp │ ├── tag_property.cpp │ ├── topmap_manager.cpp │ ├── topological_edge_tool.cpp │ ├── topological_map_panel.cpp │ └── topological_node_tool.cpp └── topological_utils ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── __init__.py ├── launch ├── create_topological_map.launch ├── dummy_topological_navigation.launch ├── empty_topological_map.launch ├── mapping.launch ├── topological_map_edition.launch └── topological_prediction_test.launch ├── package.xml ├── resource ├── __init__.py └── topological_utils ├── setup.cfg ├── setup.py ├── support ├── empty.tmap └── map_edition.rviz └── topological_utils ├── __init__.py ├── scripts ├── __init__,py ├── __init__.py ├── add_content.py ├── add_edge.py ├── add_node.py ├── add_node_tags.py ├── check_map ├── crop_map.py ├── draw_predicted_map.py ├── dummy_topological_navigation.py ├── edge_length_analysis.py ├── edge_reconf_groups_to_tmap2.py ├── evaluate_predictions.py ├── goal_converter.py ├── insert_empty_map.py ├── insert_map.py ├── joy_add_node.py ├── joy_add_waypoint.py ├── list_maps ├── load_json_map.py ├── load_yaml_map.py ├── map_collection_change.py ├── map_converter.py ├── map_export.py ├── map_to_json.py ├── map_to_yaml.py ├── migrate.py ├── node_metadata.py ├── node_rm.py ├── plot_topo_map.py ├── plot_topo_map2.py ├── plot_yaml.py ├── plot_yaml2.py ├── print_nav_stats.py ├── remove_node_tags.py ├── 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