├── .gitignore ├── LICENSE ├── README.md ├── ROS application practice ├── chap1 │ └── task1 │ │ ├── readme.md │ │ ├── spark_turn_around.cpp │ │ └── spark_turn_around.launch ├── chap10 │ ├── task1 │ │ └── readme │ └── task2 │ │ ├── readme │ │ ├── spark_rtabmap_nav.launch │ │ └── spark_rtabmap_teleop.launch ├── chap2 │ ├── task1 │ │ └── amin │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ └── src │ │ │ └── hello.cpp │ ├── task2 │ │ └── readme.md │ └── task3 │ │ ├── readme.md │ │ ├── spark_move_straight.cpp │ │ └── spark_move_straight.launch ├── chap3 │ ├── task1 │ │ ├── fake_spark_arbotix.yaml │ │ ├── readme.md │ │ ├── spark_base.launch │ │ ├── spark_description.launch │ │ ├── spark_description_arbotix.launch │ │ ├── spark_description_rviz.launch │ │ └── teleop_node.cpp │ └── task2 │ │ ├── lidar_view.launch │ │ ├── readme │ │ └── view_3iroboticslidar2.launch ├── chap4 │ ├── task1 │ │ └── robot_setup_tf │ │ │ ├── CMakeLists.txt │ │ │ ├── package.xml │ │ │ └── src │ │ │ ├── tf_broadcaster.cpp │ │ │ └── tf_listener.cpp │ ├── task2 │ │ ├── gmapping_no_odom_teleop.launch │ │ └── readme │ └── task3 │ │ ├── 2d_slam_teleop.launch │ │ ├── readme │ │ └── spark_hector.launch ├── chap5 │ ├── task1 │ │ ├── amcl_rviz.launch │ │ ├── readme │ │ └── teleop_node.cpp │ └── task2 │ │ ├── amcl_demo_lidar_rviz.launch │ │ └── readme ├── chap6 │ ├── task1 │ │ ├── 2d_slam_teleop.launch │ │ ├── readme │ │ └── spark_gmapping.launch │ └── task2 │ │ ├── 2d_slam_teleop.launch │ │ ├── readme │ │ └── spark_lds_2d.lua ├── chap7 │ └── task1 │ │ └── UR5 │ │ ├── ur5_description │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── joint_names_ur5_description.yaml │ │ ├── launch │ │ │ ├── display.launch │ │ │ └── gazebo.launch │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── link_1.STL │ │ │ ├── link_2.STL │ │ │ ├── link_3.STL │ │ │ ├── link_4.STL │ │ │ ├── link_5.STL │ │ │ └── link_6.STL │ │ ├── package.xml │ │ └── urdf │ │ │ ├── ur5_description.csv │ │ │ └── ur5_description.urdf │ │ ├── ur5_gazebo │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── ur5_gazebo_joint_states.yaml │ │ │ └── ur5_trajectory_control.yaml │ │ ├── launch │ │ │ ├── ur5_bringup_moveit.launch │ │ │ ├── ur5_gazebo_states.launch │ │ │ ├── ur5_gazebo_world.launch │ │ │ └── ur5_trajectory_controller.launch │ │ ├── package.xml │ │ └── urdf │ │ │ └── ur5.xacro │ │ ├── ur5_moveit_config │ │ ├── .setup_assistant │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── chomp_planning.yaml │ │ │ ├── controllers.yaml │ │ │ ├── fake_controllers.yaml │ │ │ ├── joint_limits.yaml │ │ │ ├── kinematics.yaml │ │ │ ├── ompl_planning.yaml │ │ │ ├── ros_controllers.yaml │ │ │ ├── sensors_3d.yaml │ │ │ └── ur5_description.srdf │ │ ├── launch │ │ │ ├── chomp_planning_pipeline.launch.xml │ │ │ ├── default_warehouse_db.launch │ │ │ ├── demo.launch │ │ │ ├── demo_gazebo.launch │ │ │ ├── fake_moveit_controller_manager.launch.xml │ │ │ ├── gazebo.launch │ │ │ ├── joystick_control.launch │ │ │ ├── move_group.launch │ │ │ ├── moveit.rviz │ │ │ ├── moveit_planning_execution.launch │ │ │ ├── moveit_rviz.launch │ │ │ ├── ompl_planning_pipeline.launch.xml │ │ │ ├── planning_context.launch │ │ │ ├── planning_pipeline.launch.xml │ │ │ ├── ros_controllers.launch │ │ │ ├── run_benchmark_ompl.launch │ │ │ ├── sensor_manager.launch.xml │ │ │ ├── setup_assistant.launch │ │ │ ├── trajectory_execution.launch.xml │ │ │ ├── ur5_description_moveit_controller_manager.launch │ │ │ ├── ur5_description_moveit_controller_manager.launch.xml │ │ │ ├── ur5_description_moveit_sensor_manager.launch.xml │ │ │ ├── warehouse.launch │ │ │ └── warehouse_settings.launch.xml │ │ └── package.xml │ │ └── ur5_planning │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── scripts │ │ ├── moveit_cartesian_demo.py │ │ ├── moveit_circle_demo.py │ │ ├── moveit_fk_demo.py │ │ ├── moveit_ik_demo.py │ │ └── moveit_obstacles_demo.py ├── chap8 │ └── task2 │ │ ├── camera_driver_transfer │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── astra.launch │ │ │ ├── astrapro.launch │ │ │ └── d435.launch │ │ └── package.xml │ │ ├── cv_tutorial │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ │ └── cv_tutorial.cpp │ │ └── readme └── chap9 │ ├── task1 │ ├── astra.launch │ └── readme.md │ ├── task2 │ ├── 3rd_app │ │ ├── app_shell │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ │ ├── intel_movidius_classification.launch │ │ │ │ └── intel_movidius_detection.launch │ │ │ └── package.xml │ │ ├── spark_teatask │ │ │ ├── doc │ │ │ │ └── readme.md │ │ │ ├── spark_amcl │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ └── spark_amcl.launch │ │ │ │ └── package.xml │ │ │ ├── spark_depth2laser │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ ├── frames.gv │ │ │ │ │ ├── frames.pdf │ │ │ │ │ └── spark_depth2laser.launch │ │ │ │ └── package.xml │ │ │ ├── spark_fetchtea │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ └── spark_fetchtea.launch │ │ │ │ ├── package.xml │ │ │ │ ├── rviz │ │ │ │ │ └── fetch_tea.rviz │ │ │ │ ├── scripts │ │ │ │ │ ├── fetchtea_main.py │ │ │ │ │ └── s_fetchtea.py │ │ │ │ └── srv │ │ │ │ │ └── scene.srv │ │ │ ├── spark_gmapping │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ └── spark_gmapping.launch │ │ │ │ └── package.xml │ │ │ ├── spark_map_server │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ ├── spark_map_load.launch │ │ │ │ │ └── spark_map_saver.launch │ │ │ │ ├── map │ │ │ │ │ ├── spark_map.pgm │ │ │ │ │ └── spark_map.yaml │ │ │ │ └── package.xml │ │ │ ├── spark_movebase │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ │ └── spark_movebase.launch │ │ │ │ ├── package.xml │ │ │ │ └── param │ │ │ │ │ ├── base_local_planner_params.yaml │ │ │ │ │ ├── costmap_common_params.yaml │ │ │ │ │ ├── dwa_local_planner_params.yaml │ │ │ │ │ ├── global_costmap_params.yaml │ │ │ │ │ ├── local_costmap_params.yaml │ │ │ │ │ ├── move_base.xml │ │ │ │ │ └── navfn_global_planner_params.yaml │ │ │ └── spark_set_kitchen │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── launch │ │ │ │ └── spark_set_kitchen.launch │ │ │ │ ├── package.xml │ │ │ │ └── src │ │ │ │ └── set_kitchen_node.cpp │ │ └── tensorflow_app │ │ │ ├── tensorflow_object_detector │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── config │ │ │ │ └── display.rviz │ │ │ ├── data │ │ │ │ ├── .gitignore │ │ │ │ ├── labels │ │ │ │ │ ├── mscoco_label_map.pbtxt │ │ │ │ │ ├── pascal_label_map.pbtxt │ │ │ │ │ └── pet_label_map.pbtxt │ │ │ │ └── models │ │ │ │ │ └── readme.md │ │ │ ├── launch │ │ │ │ ├── object_detect.launch │ │ │ │ └── usb_cam_detector.launch │ │ │ ├── package.xml │ │ │ ├── scripts │ │ │ │ ├── detect_ros.py │ │ │ │ └── detect_ros_info.py │ │ │ ├── setup.py │ │ │ └── src │ │ │ │ └── object_detection │ │ │ │ ├── .ipynb_checkpoints │ │ │ │ └── object_detection_tutorial-checkpoint.ipynb │ │ │ │ ├── BUILD │ │ │ │ ├── CONTRIBUTING.md │ │ │ │ ├── README.md │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor_generators │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── grid_anchor_generator.py │ │ │ │ ├── grid_anchor_generator_test.py │ │ │ │ ├── multiple_grid_anchor_generator.py │ │ │ │ └── multiple_grid_anchor_generator_test.py │ │ │ │ ├── box_coders │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── faster_rcnn_box_coder.py │ │ │ │ ├── faster_rcnn_box_coder_test.py │ │ │ │ ├── keypoint_box_coder.py │ │ │ │ ├── keypoint_box_coder_test.py │ │ │ │ ├── mean_stddev_box_coder.py │ │ │ │ ├── mean_stddev_box_coder_test.py │ │ │ │ ├── square_box_coder.py │ │ │ │ └── square_box_coder_test.py │ │ │ │ ├── builders │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor_generator_builder.py │ │ │ │ ├── anchor_generator_builder_test.py │ │ │ │ ├── box_coder_builder.py │ │ │ │ ├── box_coder_builder_test.py │ │ │ │ ├── box_predictor_builder.py │ │ │ │ ├── box_predictor_builder_test.py │ │ │ │ ├── hyperparams_builder.py │ │ │ │ ├── hyperparams_builder_test.py │ │ │ │ ├── image_resizer_builder.py │ │ │ │ ├── image_resizer_builder_test.py │ │ │ │ ├── input_reader_builder.py │ │ │ │ ├── input_reader_builder_test.py │ │ │ │ ├── losses_builder.py │ │ │ │ ├── losses_builder_test.py │ │ │ │ ├── matcher_builder.py │ │ │ │ ├── matcher_builder_test.py │ │ │ │ ├── model_builder.py │ │ │ │ ├── model_builder_test.py │ │ │ │ ├── optimizer_builder.py │ │ │ │ ├── optimizer_builder_test.py │ │ │ │ ├── post_processing_builder.py │ │ │ │ ├── post_processing_builder_test.py │ │ │ │ ├── preprocessor_builder.py │ │ │ │ ├── preprocessor_builder_test.py │ │ │ │ ├── region_similarity_calculator_builder.py │ │ │ │ └── region_similarity_calculator_builder_test.py │ │ │ │ ├── core │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor_generator.py │ │ │ │ ├── balanced_positive_negative_sampler.py │ │ │ │ ├── balanced_positive_negative_sampler_test.py │ │ │ │ ├── batcher.py │ │ │ │ ├── batcher_test.py │ │ │ │ ├── box_coder.py │ │ │ │ ├── box_coder_test.py │ │ │ │ ├── box_list.py │ │ │ │ ├── box_list_ops.py │ │ │ │ ├── box_list_ops_test.py │ │ │ │ ├── box_list_test.py │ │ │ │ ├── box_predictor.py │ │ │ │ ├── box_predictor_test.py │ │ │ │ ├── data_decoder.py │ │ │ │ ├── keypoint_ops.py │ │ │ │ ├── keypoint_ops_test.py │ │ │ │ ├── losses.py │ │ │ │ ├── losses_test.py │ │ │ │ ├── matcher.py │ │ │ │ ├── matcher_test.py │ │ │ │ ├── minibatch_sampler.py │ │ │ │ ├── minibatch_sampler_test.py │ │ │ │ ├── model.py │ │ │ │ ├── post_processing.py │ │ │ │ ├── post_processing_test.py │ │ │ │ ├── prefetcher.py │ │ │ │ ├── prefetcher_test.py │ │ │ │ ├── preprocessor.py │ │ │ │ ├── preprocessor_test.py │ │ │ │ ├── region_similarity_calculator.py │ │ │ │ ├── region_similarity_calculator_test.py │ │ │ │ ├── standard_fields.py │ │ │ │ ├── target_assigner.py │ │ │ │ └── target_assigner_test.py │ │ │ │ ├── create_pascal_tf_record.py │ │ │ │ ├── create_pascal_tf_record_test.py │ │ │ │ ├── create_pet_tf_record.py │ │ │ │ ├── data │ │ │ │ ├── mscoco_label_map.pbtxt │ │ │ │ ├── pascal_label_map.pbtxt │ │ │ │ └── pet_label_map.pbtxt │ │ │ │ ├── data_decoders │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── tf_example_decoder.py │ │ │ │ └── tf_example_decoder_test.py │ │ │ │ ├── detect.py │ │ │ │ ├── eval.py │ │ │ │ ├── eval_util.py │ │ │ │ ├── evaluator.py │ │ │ │ ├── export_inference_graph.py │ │ │ │ ├── exporter.py │ │ │ │ ├── exporter_test.py │ │ │ │ ├── g3doc │ │ │ │ ├── configuring_jobs.md │ │ │ │ ├── defining_your_own_model.md │ │ │ │ ├── detection_model_zoo.md │ │ │ │ ├── exporting_models.md │ │ │ │ ├── img │ │ │ │ │ ├── dogs_detections_output.jpg │ │ │ │ │ ├── example_cat.jpg │ │ │ │ │ ├── kites_detections_output.jpg │ │ │ │ │ ├── oxford_pet.png │ │ │ │ │ ├── tensorboard.png │ │ │ │ │ └── tensorboard2.png │ │ │ │ ├── installation.md │ │ │ │ ├── preparing_inputs.md │ │ │ │ ├── running_locally.md │ │ │ │ ├── running_notebook.md │ │ │ │ ├── running_on_cloud.md │ │ │ │ ├── running_pets.md │ │ │ │ └── using_your_own_dataset.md │ │ │ │ ├── matchers │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── argmax_matcher.py │ │ │ │ ├── argmax_matcher_test.py │ │ │ │ ├── bipartite_matcher.py │ │ │ │ └── bipartite_matcher_test.py │ │ │ │ ├── meta_architectures │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── faster_rcnn_meta_arch.py │ │ │ │ ├── faster_rcnn_meta_arch_test.py │ │ │ │ ├── faster_rcnn_meta_arch_test_lib.py │ │ │ │ ├── rfcn_meta_arch.py │ │ │ │ ├── rfcn_meta_arch_test.py │ │ │ │ ├── ssd_meta_arch.py │ │ │ │ └── ssd_meta_arch_test.py │ │ │ │ ├── models │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── faster_rcnn_inception_resnet_v2_feature_extractor.py │ │ │ │ ├── faster_rcnn_inception_resnet_v2_feature_extractor_test.py │ │ │ │ ├── faster_rcnn_resnet_v1_feature_extractor.py │ │ │ │ ├── faster_rcnn_resnet_v1_feature_extractor_test.py │ │ │ │ ├── feature_map_generators.py │ │ │ │ ├── feature_map_generators_test.py │ │ │ │ ├── ssd_feature_extractor_test.py │ │ │ │ ├── ssd_inception_v2_feature_extractor.py │ │ │ │ ├── ssd_inception_v2_feature_extractor_test.py │ │ │ │ ├── ssd_mobilenet_v1_feature_extractor.py │ │ │ │ └── ssd_mobilenet_v1_feature_extractor_test.py │ │ │ │ ├── object_detection_tutorial.ipynb │ │ │ │ ├── object_detection_tutorial.py │ │ │ │ ├── protos │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── anchor_generator.proto │ │ │ │ ├── anchor_generator_pb2.py │ │ │ │ ├── argmax_matcher.proto │ │ │ │ ├── argmax_matcher_pb2.py │ │ │ │ ├── bipartite_matcher.proto │ │ │ │ ├── bipartite_matcher_pb2.py │ │ │ │ ├── box_coder.proto │ │ │ │ ├── box_coder_pb2.py │ │ │ │ ├── box_predictor.proto │ │ │ │ ├── box_predictor_pb2.py │ │ │ │ ├── eval.proto │ │ │ │ ├── eval_pb2.py │ │ │ │ ├── faster_rcnn.proto │ │ │ │ ├── faster_rcnn_box_coder.proto │ │ │ │ ├── faster_rcnn_box_coder_pb2.py │ │ │ │ ├── faster_rcnn_pb2.py │ │ │ │ ├── grid_anchor_generator.proto │ │ │ │ ├── grid_anchor_generator_pb2.py │ │ │ │ ├── hyperparams.proto │ │ │ │ ├── hyperparams_pb2.py │ │ │ │ ├── image_resizer.proto │ │ │ │ ├── image_resizer_pb2.py │ │ │ │ ├── input_reader.proto │ │ │ │ ├── input_reader_pb2.py │ │ │ │ ├── losses.proto │ │ │ │ ├── losses_pb2.py │ │ │ │ ├── matcher.proto │ │ │ │ ├── matcher_pb2.py │ │ │ │ ├── mean_stddev_box_coder.proto │ │ │ │ ├── mean_stddev_box_coder_pb2.py │ │ │ │ ├── model.proto │ │ │ │ ├── model_pb2.py │ │ │ │ ├── optimizer.proto │ │ │ │ ├── optimizer_pb2.py │ │ │ │ ├── pipeline.proto │ │ │ │ ├── pipeline_pb2.py │ │ │ │ ├── post_processing.proto │ │ │ │ ├── post_processing_pb2.py │ │ │ │ ├── preprocessor.proto │ │ │ │ ├── preprocessor_pb2.py │ │ │ │ ├── region_similarity_calculator.proto │ │ │ │ ├── region_similarity_calculator_pb2.py │ │ │ │ ├── square_box_coder.proto │ │ │ │ ├── square_box_coder_pb2.py │ │ │ │ ├── ssd.proto │ │ │ │ ├── ssd_anchor_generator.proto │ │ │ │ ├── ssd_anchor_generator_pb2.py │ │ │ │ ├── ssd_pb2.py │ │ │ │ ├── string_int_label_map.proto │ │ │ │ ├── string_int_label_map_pb2.py │ │ │ │ ├── train.proto │ │ │ │ └── train_pb2.py │ │ │ │ ├── samples │ │ │ │ ├── cloud │ │ │ │ │ └── cloud.yml │ │ │ │ └── configs │ │ │ │ │ ├── faster_rcnn_inception_resnet_v2_atrous_pets.config │ │ │ │ │ ├── faster_rcnn_resnet101_pets.config │ │ │ │ │ ├── faster_rcnn_resnet101_voc07.config │ │ │ │ │ ├── faster_rcnn_resnet152_pets.config │ │ │ │ │ ├── faster_rcnn_resnet50_pets.config │ │ │ │ │ ├── rfcn_resnet101_pets.config │ │ │ │ │ ├── ssd_inception_v2_pets.config │ │ │ │ │ └── ssd_mobilenet_v1_pets.config │ │ │ │ ├── test_images │ │ │ │ ├── Screenshot from 2017-07-06 16:36:56.png │ │ │ │ ├── image1.jpg │ │ │ │ ├── image1.png │ │ │ │ ├── image2.jpg │ │ │ │ ├── image2.png │ │ │ │ ├── image3.jpg │ │ │ │ ├── image3.png │ │ │ │ ├── image4.jpg │ │ │ │ ├── image5.jpg │ │ │ │ ├── image55.jpg │ │ │ │ ├── image6.jpg │ │ │ │ └── image_info.txt │ │ │ │ ├── testcamera.py │ │ │ │ ├── train.py │ │ │ │ ├── trainer.py │ │ │ │ ├── trainer_test.py │ │ │ │ └── utils │ │ │ │ ├── BUILD │ │ │ │ ├── __init__.py │ │ │ │ ├── category_util.py │ │ │ │ ├── category_util_test.py │ │ │ │ ├── dataset_util.py │ │ │ │ ├── dataset_util_test.py │ │ │ │ ├── label_map_util.py │ │ │ │ ├── label_map_util_test.py │ │ │ │ ├── learning_schedules.py │ │ │ │ ├── learning_schedules_test.py │ │ │ │ ├── metrics.py │ │ │ │ ├── metrics_test.py │ │ │ │ ├── np_box_list.py │ │ │ │ ├── np_box_list_ops.py │ │ │ │ ├── np_box_list_ops_test.py │ │ │ │ ├── np_box_list_test.py │ │ │ │ ├── np_box_ops.py │ │ │ │ ├── np_box_ops_test.py │ │ │ │ ├── object_detection_evaluation.py │ │ │ │ ├── object_detection_evaluation_test.py │ │ │ │ ├── ops.py │ │ │ │ ├── ops_test.py │ │ │ │ ├── per_image_evaluation.py │ │ │ │ ├── per_image_evaluation_test.py │ │ │ │ ├── shape_utils.py │ │ │ │ ├── shape_utils_test.py │ │ │ │ ├── static_shape.py │ │ │ │ ├── static_shape_test.py │ │ │ │ ├── test_utils.py │ │ │ │ ├── test_utils_test.py │ │ │ │ ├── variables_helper.py │ │ │ │ ├── variables_helper_test.py │ │ │ │ ├── visualization_utils.py │ │ │ │ └── visualization_utils_test.py │ │ │ └── vision_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── include │ │ │ └── vision_msgs │ │ │ │ └── create_aabb.h │ │ │ ├── msg │ │ │ ├── BoundingBox2D.msg │ │ │ ├── BoundingBox3D.msg │ │ │ ├── Classification2D.msg │ │ │ ├── Classification3D.msg │ │ │ ├── Detection2D.msg │ │ │ ├── Detection2DArray.msg │ │ │ ├── Detection3D.msg │ │ │ ├── Detection3DArray.msg │ │ │ ├── ObjectHypothesis.msg │ │ │ ├── ObjectHypothesisWithPose.msg │ │ │ └── VisionInfo.msg │ │ │ ├── package.xml │ │ │ └── test │ │ │ ├── CMakeLists.txt │ │ │ └── main.cpp │ ├── object_detect.launch │ └── readme.md │ ├── task3 │ ├── readme.md │ └── spark_carry_cal_cv3.launch │ ├── task4 │ ├── readme.md │ └── spark_carry_object_only_cv3.launch │ └── task5 │ ├── DL_pointto.py │ ├── DL_pointto_fsm.py │ ├── detect_ros.py │ ├── detect_ros_info.py │ ├── readme.md │ └── unit2_test.launch ├── doc ├── Spark使用说明.pdf ├── dev_install.sh ├── install_3iroboticslidar2.sh ├── install_eai_g2.sh ├── install_eai_g6.sh ├── lidar_3iroboticslidar2.txt ├── lidar_ydlidar_g2.txt ├── lidar_ydlidar_g6.txt ├── readme_dev ├── readme_install ├── rules │ ├── 3ilidar-usb-serial.rules │ ├── orbbec-usb.rules │ ├── spark-usb-serial.rules │ └── uarm-usb-serial.rules ├── spark.jpg └── 标定棋盘9x7 20x20mm.pdf ├── onekey.sh └── src ├── 3rd_app ├── app_shell │ ├── CMakeLists.txt │ ├── launch │ │ ├── intel_movidius_classification.launch │ │ └── intel_movidius_detection.launch │ └── package.xml ├── spark_teatask │ ├── doc │ │ └── readme.md │ ├── spark_amcl │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── spark_amcl.launch │ │ └── package.xml │ ├── spark_depth2laser │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── frames.gv │ │ │ ├── frames.pdf │ │ │ └── spark_depth2laser.launch │ │ └── package.xml │ ├── spark_fetchtea │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── spark_fetchtea.launch │ │ ├── package.xml │ │ ├── rviz │ │ │ └── fetch_tea.rviz │ │ ├── scripts │ │ │ ├── fetchtea_main.py │ │ │ └── s_fetchtea.py │ │ └── srv │ │ │ └── scene.srv │ ├── spark_gmapping │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── spark_gmapping.launch │ │ └── package.xml │ ├── spark_map_server │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── spark_map_load.launch │ │ │ └── spark_map_saver.launch │ │ ├── map │ │ │ ├── spark_map.pgm │ │ │ └── spark_map.yaml │ │ └── package.xml │ ├── spark_movebase │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── spark_movebase.launch │ │ ├── package.xml │ │ └── param │ │ │ ├── base_local_planner_params.yaml │ │ │ ├── costmap_common_params.yaml │ │ │ ├── dwa_local_planner_params.yaml │ │ │ ├── global_costmap_params.yaml │ │ │ ├── local_costmap_params.yaml │ │ │ ├── move_base.xml │ │ │ └── navfn_global_planner_params.yaml │ └── spark_set_kitchen │ │ ├── CMakeLists.txt │ │ ├── launch │ │ └── spark_set_kitchen.launch │ │ ├── package.xml │ │ └── src │ │ └── set_kitchen_node.cpp └── tensorflow_app │ ├── tensorflow_object_detector │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── display.rviz │ ├── data │ │ ├── .gitignore │ │ ├── labels │ │ │ ├── mscoco_label_map.pbtxt │ │ │ ├── pascal_label_map.pbtxt │ │ │ └── pet_label_map.pbtxt │ │ └── models │ │ │ └── readme.md │ ├── launch │ │ ├── object_detect.launch │ │ └── usb_cam_detector.launch │ ├── package.xml │ ├── scripts │ │ ├── detect_ros.py │ │ └── detect_ros_info.py │ ├── setup.py │ └── src │ │ └── object_detection │ │ ├── .ipynb_checkpoints │ │ └── object_detection_tutorial-checkpoint.ipynb │ │ ├── BUILD │ │ ├── CONTRIBUTING.md │ │ ├── README.md │ │ ├── __init__.py │ │ ├── anchor_generators │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── grid_anchor_generator.py │ │ ├── grid_anchor_generator_test.py │ │ ├── multiple_grid_anchor_generator.py │ │ └── multiple_grid_anchor_generator_test.py │ │ ├── box_coders │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── faster_rcnn_box_coder.py │ │ ├── faster_rcnn_box_coder_test.py │ │ ├── keypoint_box_coder.py │ │ ├── keypoint_box_coder_test.py │ │ ├── mean_stddev_box_coder.py │ │ ├── mean_stddev_box_coder_test.py │ │ ├── square_box_coder.py │ │ └── square_box_coder_test.py │ │ ├── builders │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── anchor_generator_builder.py │ │ ├── anchor_generator_builder_test.py │ │ ├── box_coder_builder.py │ │ ├── box_coder_builder_test.py │ │ ├── box_predictor_builder.py │ │ ├── box_predictor_builder_test.py │ │ ├── hyperparams_builder.py │ │ ├── hyperparams_builder_test.py │ │ ├── image_resizer_builder.py │ │ ├── image_resizer_builder_test.py │ │ ├── input_reader_builder.py │ │ ├── input_reader_builder_test.py │ │ ├── losses_builder.py │ │ ├── losses_builder_test.py │ │ ├── matcher_builder.py │ │ ├── matcher_builder_test.py │ │ ├── model_builder.py │ │ ├── model_builder_test.py │ │ ├── optimizer_builder.py │ │ ├── optimizer_builder_test.py │ │ ├── post_processing_builder.py │ │ ├── post_processing_builder_test.py │ │ ├── preprocessor_builder.py │ │ ├── preprocessor_builder_test.py │ │ ├── region_similarity_calculator_builder.py │ │ └── region_similarity_calculator_builder_test.py │ │ ├── core │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── anchor_generator.py │ │ ├── balanced_positive_negative_sampler.py │ │ ├── balanced_positive_negative_sampler_test.py │ │ ├── batcher.py │ │ ├── batcher_test.py │ │ ├── box_coder.py │ │ ├── box_coder_test.py │ │ ├── box_list.py │ │ ├── box_list_ops.py │ │ ├── box_list_ops_test.py │ │ ├── box_list_test.py │ │ ├── box_predictor.py │ │ ├── box_predictor_test.py │ │ ├── data_decoder.py │ │ ├── keypoint_ops.py │ │ ├── keypoint_ops_test.py │ │ ├── losses.py │ │ ├── losses_test.py │ │ ├── matcher.py │ │ ├── matcher_test.py │ │ ├── minibatch_sampler.py │ │ ├── minibatch_sampler_test.py │ │ ├── model.py │ │ ├── post_processing.py │ │ ├── post_processing_test.py │ │ ├── prefetcher.py │ │ ├── prefetcher_test.py │ │ ├── preprocessor.py │ │ ├── preprocessor_test.py │ │ ├── region_similarity_calculator.py │ │ ├── region_similarity_calculator_test.py │ │ ├── standard_fields.py │ │ ├── target_assigner.py │ │ └── target_assigner_test.py │ │ ├── create_pascal_tf_record.py │ │ ├── create_pascal_tf_record_test.py │ │ ├── create_pet_tf_record.py │ │ ├── data │ │ ├── mscoco_label_map.pbtxt │ │ ├── pascal_label_map.pbtxt │ │ └── pet_label_map.pbtxt │ │ ├── data_decoders │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── tf_example_decoder.py │ │ └── tf_example_decoder_test.py │ │ ├── detect.py │ │ ├── eval.py │ │ ├── eval_util.py │ │ ├── evaluator.py │ │ ├── export_inference_graph.py │ │ ├── exporter.py │ │ ├── exporter_test.py │ │ ├── g3doc │ │ ├── configuring_jobs.md │ │ ├── defining_your_own_model.md │ │ ├── detection_model_zoo.md │ │ ├── exporting_models.md │ │ ├── img │ │ │ ├── dogs_detections_output.jpg │ │ │ ├── example_cat.jpg │ │ │ ├── kites_detections_output.jpg │ │ │ ├── oxford_pet.png │ │ │ ├── tensorboard.png │ │ │ └── tensorboard2.png │ │ ├── installation.md │ │ ├── preparing_inputs.md │ │ ├── running_locally.md │ │ ├── running_notebook.md │ │ ├── running_on_cloud.md │ │ ├── running_pets.md │ │ └── using_your_own_dataset.md │ │ ├── matchers │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── argmax_matcher.py │ │ ├── argmax_matcher_test.py │ │ ├── bipartite_matcher.py │ │ └── bipartite_matcher_test.py │ │ ├── meta_architectures │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── faster_rcnn_meta_arch.py │ │ ├── faster_rcnn_meta_arch_test.py │ │ ├── faster_rcnn_meta_arch_test_lib.py │ │ ├── rfcn_meta_arch.py │ │ ├── rfcn_meta_arch_test.py │ │ ├── ssd_meta_arch.py │ │ └── ssd_meta_arch_test.py │ │ ├── models │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── faster_rcnn_inception_resnet_v2_feature_extractor.py │ │ ├── faster_rcnn_inception_resnet_v2_feature_extractor_test.py │ │ ├── faster_rcnn_resnet_v1_feature_extractor.py │ │ ├── faster_rcnn_resnet_v1_feature_extractor_test.py │ │ ├── feature_map_generators.py │ │ ├── feature_map_generators_test.py │ │ ├── ssd_feature_extractor_test.py │ │ ├── ssd_inception_v2_feature_extractor.py │ │ ├── ssd_inception_v2_feature_extractor_test.py │ │ ├── ssd_mobilenet_v1_feature_extractor.py │ │ └── ssd_mobilenet_v1_feature_extractor_test.py │ │ ├── object_detection_tutorial.ipynb │ │ ├── object_detection_tutorial.py │ │ ├── protos │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── anchor_generator.proto │ │ ├── anchor_generator_pb2.py │ │ ├── argmax_matcher.proto │ │ ├── argmax_matcher_pb2.py │ │ ├── bipartite_matcher.proto │ │ ├── bipartite_matcher_pb2.py │ │ ├── box_coder.proto │ │ ├── box_coder_pb2.py │ │ ├── box_predictor.proto │ │ ├── box_predictor_pb2.py │ │ ├── eval.proto │ │ ├── eval_pb2.py │ │ ├── faster_rcnn.proto │ │ ├── faster_rcnn_box_coder.proto │ │ ├── faster_rcnn_box_coder_pb2.py │ │ ├── faster_rcnn_pb2.py │ │ ├── grid_anchor_generator.proto │ │ ├── grid_anchor_generator_pb2.py │ │ ├── hyperparams.proto │ │ ├── hyperparams_pb2.py │ │ ├── image_resizer.proto │ │ ├── image_resizer_pb2.py │ │ ├── input_reader.proto │ │ ├── input_reader_pb2.py │ │ ├── losses.proto │ │ ├── losses_pb2.py │ │ ├── matcher.proto │ │ ├── matcher_pb2.py │ │ ├── mean_stddev_box_coder.proto │ │ ├── mean_stddev_box_coder_pb2.py │ │ ├── model.proto │ │ ├── model_pb2.py │ │ ├── optimizer.proto │ │ ├── optimizer_pb2.py │ │ ├── pipeline.proto │ │ ├── pipeline_pb2.py │ │ ├── post_processing.proto │ │ ├── post_processing_pb2.py │ │ ├── preprocessor.proto │ │ ├── preprocessor_pb2.py │ │ ├── region_similarity_calculator.proto │ │ ├── region_similarity_calculator_pb2.py │ │ ├── square_box_coder.proto │ │ ├── square_box_coder_pb2.py │ │ ├── ssd.proto │ │ ├── ssd_anchor_generator.proto │ │ ├── ssd_anchor_generator_pb2.py │ │ ├── ssd_pb2.py │ │ ├── string_int_label_map.proto │ │ ├── string_int_label_map_pb2.py │ │ ├── train.proto │ │ └── train_pb2.py │ │ ├── samples │ │ ├── cloud │ │ │ └── cloud.yml │ │ └── configs │ │ │ ├── faster_rcnn_inception_resnet_v2_atrous_pets.config │ │ │ ├── faster_rcnn_resnet101_pets.config │ │ │ ├── faster_rcnn_resnet101_voc07.config │ │ │ ├── faster_rcnn_resnet152_pets.config │ │ │ ├── faster_rcnn_resnet50_pets.config │ │ │ ├── rfcn_resnet101_pets.config │ │ │ ├── ssd_inception_v2_pets.config │ │ │ └── ssd_mobilenet_v1_pets.config │ │ ├── test_images │ │ ├── Screenshot from 2017-07-06 16:36:56.png │ │ ├── image1.jpg │ │ ├── image1.png │ │ ├── image2.jpg │ │ ├── image2.png │ │ ├── image3.jpg │ │ ├── image3.png │ │ ├── image4.jpg │ │ ├── image5.jpg │ │ ├── image55.jpg │ │ ├── image6.jpg │ │ └── image_info.txt │ │ ├── testcamera.py │ │ ├── train.py │ │ ├── trainer.py │ │ ├── trainer_test.py │ │ └── utils │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── category_util.py │ │ ├── category_util_test.py │ │ ├── dataset_util.py │ │ ├── dataset_util_test.py │ │ ├── label_map_util.py │ │ ├── label_map_util_test.py │ │ ├── learning_schedules.py │ │ ├── learning_schedules_test.py │ │ ├── metrics.py │ │ ├── metrics_test.py │ │ ├── np_box_list.py │ │ ├── np_box_list_ops.py │ │ ├── np_box_list_ops_test.py │ │ ├── np_box_list_test.py │ │ ├── np_box_ops.py │ │ ├── np_box_ops_test.py │ │ ├── object_detection_evaluation.py │ │ ├── object_detection_evaluation_test.py │ │ ├── ops.py │ │ ├── ops_test.py │ │ ├── per_image_evaluation.py │ │ ├── per_image_evaluation_test.py │ │ ├── shape_utils.py │ │ ├── shape_utils_test.py │ │ ├── static_shape.py │ │ ├── static_shape_test.py │ │ ├── test_utils.py │ │ ├── test_utils_test.py │ │ ├── variables_helper.py │ │ ├── variables_helper_test.py │ │ ├── visualization_utils.py │ │ └── visualization_utils_test.py │ └── vision_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ └── vision_msgs │ │ └── create_aabb.h │ ├── msg │ ├── BoundingBox2D.msg │ ├── BoundingBox3D.msg │ ├── Classification2D.msg │ ├── Classification3D.msg │ ├── Detection2D.msg │ ├── Detection2DArray.msg │ ├── Detection3D.msg │ ├── Detection3DArray.msg │ ├── ObjectHypothesis.msg │ ├── ObjectHypothesisWithPose.msg │ ├── ObjectInfo.msg │ └── VisionInfo.msg │ ├── package.xml │ └── test │ ├── CMakeLists.txt │ └── main.cpp ├── CMakeLists.txt ├── cv_tutorial ├── CMakeLists.txt ├── package.xml └── src │ └── cv_tutorial.cpp ├── spark ├── rf2o_laser_odometry │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ │ └── rf2o_laser_odometry │ │ │ └── CLaserOdometry2D.h │ ├── launch │ │ └── rf2o_laser_odometry.launch │ ├── package.xml │ └── src │ │ └── CLaserOdometry2D.cpp ├── spark_bringup │ ├── CMakeLists.txt │ ├── launch │ │ ├── base_bringup.launch │ │ ├── driver_bringup.launch │ │ └── driver_bringup_rviz.launch │ └── package.xml ├── spark_description │ ├── CMakeLists.txt │ ├── config │ │ └── fake_spark_arbotix.yaml │ ├── launch │ │ ├── spark_description.launch │ │ ├── spark_description_arbotix.launch │ │ ├── spark_description_norviz.launch │ │ └── spark_description_rviz.launch │ ├── meshes │ │ └── spark │ │ │ ├── base │ │ │ ├── images │ │ │ │ └── base.png │ │ │ ├── left_wheel.DAE │ │ │ ├── right_wheel.DAE │ │ │ └── spark_base.DAE │ │ │ ├── sensors │ │ │ ├── images │ │ │ │ └── camera.png │ │ │ ├── spark_camera.DAE │ │ │ └── spark_d435.dae │ │ │ └── stack │ │ │ ├── images │ │ │ └── 0_stack_map1.png │ │ │ ├── spark_stack.DAE │ │ │ └── stack_map1.png │ ├── package.xml │ ├── robots │ │ └── spark.urdf.xacro │ ├── rviz │ │ └── urdf.rviz │ ├── src │ │ └── joint_state_node.cpp │ └── urdf │ │ ├── base │ │ └── spark_base.urdf │ │ ├── sensors │ │ ├── spark_astra.urdf │ │ ├── spark_astrapro.urdf │ │ ├── spark_d435.urdf.xacro │ │ └── spark_lidar.urdf │ │ ├── spark_340.urdf.xacro │ │ └── stack │ │ └── spark_stack.urdf ├── spark_teleop │ ├── CMakeLists.txt │ ├── launch │ │ ├── app_op.launch │ │ ├── teleop.launch │ │ └── teleop_only.launch │ ├── package.xml │ ├── rviz │ │ ├── teleop.rviz │ │ ├── teleop_astra.rviz │ │ ├── teleop_astrapro.rviz │ │ └── teleop_d435.rviz │ ├── scripts │ │ └── keyboard_control.sh │ └── src │ │ └── teleop_node.cpp ├── spark_test │ ├── CMakeLists.txt │ ├── launch │ │ ├── all_run_test.launch │ │ ├── all_run_test_st.launch │ │ ├── go2dock.launch │ │ ├── spark_driver.launch │ │ ├── spark_test_motion.launch │ │ ├── spark_test_topic.launch │ │ └── turn_test.launch │ ├── package.xml │ ├── scripts │ │ └── create_udev_rules │ └── src │ │ ├── spark_dock_node.cpp │ │ ├── spark_test_motion.cpp │ │ ├── spark_test_topic.cpp │ │ ├── spark_turn_left_right.cpp │ │ └── spark_turn_left_right_st.cpp └── spark_velocity_smoother │ ├── .cproject │ ├── .gitignore │ ├── .project │ ├── .pydevproject │ ├── .settings │ └── language.settings.xml │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── cfg │ └── params.cfg │ ├── include │ └── spark_velocity_smoother │ │ └── velocity_smoother_nodelet.hpp │ ├── launch │ ├── standalone.launch │ ├── test_translational_smoothing.launch │ └── velocity_smoother.launch │ ├── package.xml │ ├── param │ └── standalone.yaml │ ├── plugins │ └── nodelets.xml │ ├── src │ └── velocity_smoother_nodelet.cpp │ └── test │ └── test_translational_input.py ├── spark_app ├── camera_calibrator │ ├── CMakeLists.txt │ ├── launch │ │ └── camera_calibrate.launch │ ├── package.xml │ └── scripts │ │ ├── cam_calibrate_depth.sh │ │ ├── cam_calibrate_rgb.sh │ │ └── cam_open.sh ├── dl_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── DetectionArray.msg │ │ └── ObjectInfo.msg │ └── package.xml ├── follower_velocity_smoother │ ├── .cproject │ ├── .gitignore │ ├── .project │ ├── .pydevproject │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── cfg │ │ └── params.cfg │ ├── include │ │ └── follower_velocity_smoother │ │ │ └── velocity_smoother_nodelet.hpp │ ├── launch │ │ ├── standalone.launch │ │ ├── test_translational_smoothing.launch │ │ └── velocity_smoother.launch │ ├── package.xml │ ├── param │ │ ├── smoother.yaml │ │ └── standalone.yaml │ ├── plugins │ │ └── nodelets.xml │ ├── src │ │ └── velocity_smoother_nodelet.cpp │ └── test │ │ └── test_translational_input.py ├── spark_carry │ ├── CMakeLists.txt │ ├── launch │ │ ├── hsv_detection.launch │ │ ├── spark_carry_cal_cv2.launch │ │ ├── spark_carry_cal_cv3.launch │ │ ├── spark_carry_object.launch │ │ ├── spark_carry_object_only_cv2.launch │ │ └── spark_carry_object_only_cv3.launch │ ├── msg │ │ ├── position.msg │ │ └── status.msg │ ├── nodes │ │ ├── cali_cam_cv2.py │ │ ├── cali_cam_cv3.py │ │ ├── cali_pos.py │ │ ├── hsv_detection.py │ │ ├── s_carry_object_amcl.py │ │ ├── s_carry_object_cv2.py │ │ ├── s_carry_object_cv3.py │ │ └── s_carry_object_nav.py │ ├── package.xml │ ├── readme.txt │ ├── rviz │ │ ├── carry_object_amcl_astra.rviz │ │ ├── carry_object_amcl_astrapro.rviz │ │ ├── carry_object_amcl_d435.rviz │ │ ├── carry_object_astra.rviz │ │ ├── carry_object_astrapro.rviz │ │ └── carry_object_d435.rviz │ ├── scripts │ │ ├── action_carry.sh │ │ ├── cmd_spark_carry_start.sh │ │ ├── publish_start_to_cali.sh │ │ └── send_topic.sh │ └── srv │ │ └── scene.srv ├── spark_follower │ ├── CMakeLists.txt │ ├── doc │ │ └── readme │ ├── launch │ │ ├── bringup.launch │ │ ├── follow_run.sh │ │ ├── include │ │ │ └── velocity_smoother.launch.xml │ │ ├── m.launch │ │ ├── nxfollower_bringup.launch │ │ ├── nxfollower_bringup_nodelet _old.launch │ │ └── nxfollower_bringup_nodelet.launch │ ├── package.xml │ ├── param │ │ └── default │ │ │ └── smoother.yaml │ ├── plugins │ │ └── nxfollower_nodelet.xml │ ├── rviz │ │ ├── follow_astra.rviz │ │ ├── follow_astrapro.rviz │ │ └── follow_d435.rviz │ └── src │ │ ├── nxfollower.hpp │ │ └── nxfollower_nodelet.cpp ├── spark_navigation │ ├── .gitignore │ ├── CMakeLists.txt │ ├── laser │ │ └── costmap_common_params.yaml │ ├── launch │ │ ├── amcl_demo.launch │ │ ├── amcl_demo_lidar.launch │ │ ├── amcl_demo_lidar_rviz.launch │ │ ├── amcl_demo_rviz.launch │ │ ├── amcl_rviz.launch │ │ ├── depthimage_to_laserscan.launch │ │ ├── gmapping_demo.launch │ │ ├── gmapping_demo_lidar.launch │ │ ├── graveyard │ │ │ └── graveyard_bump_navi_demo.launch │ │ └── includes │ │ │ ├── amcl │ │ │ ├── 3i_lidar_amcl.launch.xml │ │ │ ├── amcl.launch.xml │ │ │ ├── astra_amcl.launch.xml │ │ │ ├── asus_xtion_pro_amcl.launch.xml │ │ │ ├── asus_xtion_pro_offset_amcl.launch.xml │ │ │ ├── kinect_amcl.launch.xml │ │ │ └── r200_amcl.launch.xml │ │ │ ├── gmapping │ │ │ ├── 3i_lidar_gmapping.launch.xml │ │ │ ├── astra_gmapping.launch.xml │ │ │ ├── asus_xtion_pro_gmapping.launch.xml │ │ │ ├── asus_xtion_pro_offset_gmapping.launch.xml │ │ │ ├── gmapping.launch.xml │ │ │ ├── kinect_gmapping.launch.xml │ │ │ └── r200_gmapping.launch.xml │ │ │ ├── move_base.launch.xml │ │ │ ├── safety_controller.launch.xml │ │ │ └── velocity_smoother.launch.xml │ ├── maps │ │ ├── .pgm │ │ ├── .yaml │ │ ├── 3d_printing_lab.pgm │ │ ├── 3d_printing_lab.yaml │ │ ├── amcl_demo.rviz │ │ ├── build_map.rviz │ │ ├── lecture_hall2.pgm │ │ ├── lecture_hall2.yaml │ │ ├── lecture_hall_final.pgm │ │ ├── lecture_hall_final.yaml │ │ ├── lecture_hall_lidar.pgm │ │ ├── lecture_hall_lidar.yaml │ │ ├── lecture_hall_lidar_2.pgm │ │ ├── lecture_hall_lidar_2.yaml │ │ ├── spark_third_try_lecture_hall.pgm │ │ └── spark_third_try_lecture_hall.yaml │ ├── package.xml │ ├── param │ │ ├── 3i_lidar_costmap_params.yaml │ │ ├── astra_costmap_params.yaml │ │ ├── asus_xtion_pro_costmap_params.yaml │ │ ├── asus_xtion_pro_offset_costmap_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── default │ │ │ ├── smoother.yaml │ │ │ └── smoother_0.2base.yaml │ │ ├── dummy.yaml │ │ ├── dwa_local_planner_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── global_planner_params.yaml │ │ ├── kinect_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ ├── move_base_params.yaml │ │ ├── navfn_global_planner_params.yaml │ │ └── r200_costmap_params.yaml │ ├── rviz │ │ ├── amcl_camera_astra.rviz │ │ ├── amcl_camera_astrapro.rviz │ │ ├── amcl_camera_d435.rviz │ │ ├── amcl_demo.rviz │ │ └── amcl_lidar.rviz │ └── scripts │ │ ├── nav_ab.py │ │ └── nav_key.py ├── spark_rtabmap │ ├── .gitignore │ ├── CMakeLists.txt │ ├── launch │ │ ├── astra_camera.launch │ │ ├── camera_rtabmap.launch │ │ ├── rtab_demo.launch │ │ ├── spark_mapping_astra.launch │ │ ├── spark_mapping_astrapro.launch │ │ ├── spark_mapping_d435.launch │ │ ├── spark_rtabmap_nav.launch │ │ └── spark_rtabmap_teleop.launch │ ├── package.xml │ ├── rviz │ │ ├── spark_rtab_map_astra.rviz │ │ ├── spark_rtab_map_astrapro.rviz │ │ └── spark_rtab_map_d435.rviz │ └── scripts │ │ ├── action_save.sh │ │ ├── cmd_save_map.sh │ │ ├── test_map.pgm │ │ └── test_map.yaml ├── spark_slam │ ├── CMakeLists.txt │ ├── bag │ │ └── bag_files.md │ ├── config │ │ ├── frontier_exploration.yaml │ │ ├── karto_mapper_params.yaml │ │ ├── spark_lds_2d.lua │ │ └── spark_lds_2d_gazebo.lua │ ├── include │ │ └── spark_slam │ │ │ └── flat_world_imu_node.h │ ├── launch │ │ ├── 2d_slam.launch │ │ ├── 2d_slam_norviz.launch │ │ ├── 2d_slam_teleop.launch │ │ ├── amcl.launch │ │ ├── depth_slam.launch │ │ ├── depth_slam_norviz.launch │ │ ├── depth_slam_teleop.launch │ │ ├── gmapping_no_odom.launch │ │ ├── gmapping_no_odom_teleop.launch │ │ ├── spark_cartographer.launch │ │ ├── spark_frontier_exploration.launch │ │ ├── spark_gmapping.launch │ │ ├── spark_hector.launch │ │ └── spark_karto.launch │ ├── package.xml │ ├── rviz │ │ ├── spark_cartographer.rviz │ │ ├── spark_cartographer_d435.rviz │ │ ├── spark_frontier_exploration.rviz │ │ ├── spark_frontier_exploration_d435.rviz │ │ ├── spark_gmapping.rviz │ │ ├── spark_gmapping_d435.rviz │ │ ├── spark_hector.rviz │ │ ├── spark_hector_d435.rviz │ │ ├── spark_karto.rviz │ │ └── spark_karto_d435.rviz │ ├── scripts │ │ ├── .gitignore │ │ ├── action_save.sh │ │ └── cmd_save_map.sh │ └── src │ │ └── flat_world_imu_node.cpp ├── spark_voice │ ├── CMakeLists.txt │ ├── launch │ │ ├── baidu_nav.launch │ │ ├── voice_nav.launch │ │ ├── wx_nav.launch │ │ └── xf_nav.launch │ ├── package.xml │ └── scripts │ │ ├── baidu_asr.py │ │ ├── ekho_tts.py │ │ ├── kdxf_asr.py │ │ ├── lib │ │ ├── __init__.py │ │ ├── base.py │ │ ├── microphone.py │ │ ├── pocketsphinx-data │ │ │ ├── README.md │ │ │ ├── cmd.txt │ │ │ ├── dic.txt │ │ │ ├── dictionary.txt │ │ │ ├── hmm │ │ │ │ ├── README │ │ │ │ ├── feat.params │ │ │ │ ├── mdef │ │ │ │ ├── means │ │ │ │ ├── noisedict │ │ │ │ ├── sendump │ │ │ │ ├── transition_matrices │ │ │ │ └── variances │ │ │ ├── keywords.txt │ │ │ └── setup.sh │ │ ├── speech.py │ │ └── vad.py │ │ ├── local_asr.py │ │ ├── voice_nav.py │ │ └── wx_bot.py └── unit2_pointto │ ├── CMakeLists.txt │ ├── file_needed │ ├── ObjectInfo.msg │ ├── detect_ros_info.py │ └── unit2_test.launch │ ├── launch │ └── unit2_test.launch │ ├── package.xml │ └── scripts │ ├── DL_pointto.py │ └── DL_pointto_fsm.py └── spark_driver ├── arm └── uArm │ ├── README.md │ ├── pro_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── swiftpro.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── swiftpro_moveit_controller_manager.launch.xml │ │ ├── swiftpro_moveit_sensor_manager.launch.xml │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml │ ├── swift_moveit_config │ ├── .setup_assistant │ ├── CMakeLists.txt │ ├── config │ │ ├── fake_controllers.yaml │ │ ├── joint_limits.yaml │ │ ├── kinematics.yaml │ │ ├── ompl_planning.yaml │ │ └── swiftpro.srdf │ ├── launch │ │ ├── default_warehouse_db.launch │ │ ├── demo.launch │ │ ├── fake_moveit_controller_manager.launch.xml │ │ ├── joystick_control.launch │ │ ├── move_group.launch │ │ ├── moveit.rviz │ │ ├── moveit_rviz.launch │ │ ├── ompl_planning_pipeline.launch.xml │ │ ├── planning_context.launch │ │ ├── planning_pipeline.launch.xml │ │ ├── run_benchmark_ompl.launch │ │ ├── sensor_manager.launch.xml │ │ ├── setup_assistant.launch │ │ ├── swiftpro_moveit_controller_manager.launch.xml │ │ ├── swiftpro_moveit_sensor_manager.launch.xml │ │ ├── trajectory_execution.launch.xml │ │ ├── warehouse.launch │ │ └── warehouse_settings.launch.xml │ └── package.xml │ └── swiftpro │ ├── CMakeLists.txt │ ├── launch │ ├── pro_control.launch │ ├── pro_control_nomoveit.launch │ ├── pro_display.launch │ ├── swift_control.launch │ └── swift_display.launch │ ├── msg │ ├── SwiftproState.msg │ ├── angle4th.msg │ ├── position.msg │ └── status.msg │ ├── package.xml │ ├── src │ ├── swiftpro_moveit_node.cpp │ ├── swiftpro_read_node.cpp │ ├── swiftpro_rviz_node.cpp │ └── swiftpro_write_node.cpp │ └── urdf │ ├── pro_links │ ├── Base.STL │ ├── Gripper.STL │ ├── Link1.STL │ ├── Link2.STL │ ├── Link3.STL │ ├── Link4.STL │ ├── Link5.STL │ ├── Link6.STL │ ├── Link7.STL │ ├── Link9.STL │ └── Suction.STL │ ├── pro_model.xacro │ ├── spark_pro_model.xacro │ ├── swift_links │ ├── Base.STL │ ├── Gripper.STL │ ├── Link1.STL │ ├── Link2.STL │ ├── Link3.STL │ ├── Link4.STL │ ├── Link5.STL │ ├── Link6.STL │ ├── Link7.STL │ ├── Link9.STL │ └── Suction.STL │ └── swift_model.xacro ├── base ├── cereal_port │ ├── CMakeLists.txt │ ├── include │ │ └── cereal_port │ │ │ └── CerealPort.h │ ├── package.xml │ ├── rules │ │ └── 70-ttyusb.rules │ └── src │ │ └── CerealPort.cpp └── spark_base │ ├── CMakeLists.txt │ ├── include │ └── spark_base │ │ ├── kfilter.hpp │ │ ├── mylock.hpp │ │ └── spark_base_interface.h │ ├── launch │ └── spark_base.launch │ ├── msg │ ├── .msg │ ├── GyroMessage.msg │ ├── SparkBaseDock.msg │ ├── SparkBaseOdom.msg │ └── SparkBaseSensor.msg │ ├── package.xml │ └── src │ ├── spark_base.cpp │ └── spark_base_interface.cpp ├── camera ├── astra_camera │ ├── .gitignore │ ├── 56-orbbec-usb.rules │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── astra_nodelets.xml │ ├── cfg │ │ ├── Astra.cfg │ │ └── UVCCamera.cfg │ ├── include │ │ ├── astra_camera │ │ │ ├── astra_convert.h │ │ │ ├── astra_device.h │ │ │ ├── astra_device_info.h │ │ │ ├── astra_device_manager.h │ │ │ ├── astra_device_type.h │ │ │ ├── astra_driver.h │ │ │ ├── astra_exception.h │ │ │ ├── astra_frame_listener.h │ │ │ ├── astra_timer_filter.h │ │ │ └── astra_video_mode.h │ │ ├── libuvc_camera │ │ │ └── camera_driver.h │ │ ├── openni2 │ │ │ ├── Android-Arm │ │ │ │ └── OniPlatformAndroid-Arm.h │ │ │ ├── Driver │ │ │ │ ├── OniDriverAPI.h │ │ │ │ └── OniDriverTypes.h │ │ │ ├── KinectProperties.h │ │ │ ├── Linux-Arm │ │ │ │ └── OniPlatformLinux-Arm.h │ │ │ ├── Linux-x86 │ │ │ │ └── OniPlatformLinux-x86.h │ │ │ ├── MacOSX │ │ │ │ └── OniPlatformMacOSX.h │ │ │ ├── OniCAPI.h │ │ │ ├── OniCEnums.h │ │ │ ├── OniCProperties.h │ │ │ ├── OniCTypes.h │ │ │ ├── OniEnums.h │ │ │ ├── OniPlatform.h │ │ │ ├── OniProperties.h │ │ │ ├── OniTest.h │ │ │ ├── OniVersion.h │ │ │ ├── OpenNI.h │ │ │ ├── PS1080.h │ │ │ ├── PSLink.h │ │ │ ├── PrimeSense.h │ │ │ └── Win32 │ │ │ │ └── OniPlatformWin32.h │ │ └── openni2_redist │ │ │ ├── arm │ │ │ ├── OpenNI.ini │ │ │ ├── OpenNI2 │ │ │ │ └── Drivers │ │ │ │ │ ├── OniFile.ini │ │ │ │ │ ├── PSLink.ini │ │ │ │ │ ├── libOniFile.so │ │ │ │ │ ├── libPSLink.so │ │ │ │ │ ├── liborbbec.so │ │ │ │ │ └── orbbec.ini │ │ │ ├── libMWClosestPoint.so │ │ │ ├── libOpenNI2.jni.so │ │ │ ├── libOpenNI2.so │ │ │ └── org.openni.jar │ │ │ ├── arm64 │ │ │ ├── OpenNI.ini │ │ │ ├── OpenNI2 │ │ │ │ └── Drivers │ │ │ │ │ ├── OniFile.ini │ │ │ │ │ ├── PSLink.ini │ │ │ │ │ ├── libOniFile.so │ │ │ │ │ ├── libPSLink.so │ │ │ │ │ ├── liborbbec.so │ │ │ │ │ └── orbbec.ini │ │ │ ├── libMWClosestPoint.so │ │ │ ├── libOpenNI2.jni.so │ │ │ ├── libOpenNI2.so │ │ │ └── org.openni.jar │ │ │ ├── x64 │ │ │ ├── OpenNI.ini │ │ │ ├── OpenNI2 │ │ │ │ └── Drivers │ │ │ │ │ ├── OniFile.ini │ │ │ │ │ ├── PSLink.ini │ │ │ │ │ ├── libOniFile.so │ │ │ │ │ ├── libPSLink.so │ │ │ │ │ ├── liborbbec.so │ │ │ │ │ └── orbbec.ini │ │ │ ├── libDepthUtils.a │ │ │ ├── libMWClosestPoint.so │ │ │ ├── libOpenNI2.jni.so │ │ │ ├── libOpenNI2.so │ │ │ └── org.openni.jar │ │ │ └── x86 │ │ │ ├── OpenNI.ini │ │ │ ├── OpenNI2 │ │ │ └── Drivers │ │ │ │ ├── OniFile.ini │ │ │ │ ├── PSLink.ini │ │ │ │ ├── libOniFile.so │ │ │ │ ├── libPSLink.so │ │ │ │ ├── liborbbec.so │ │ │ │ └── orbbec.ini │ │ │ ├── libMWClosestPoint.so │ │ │ ├── libOpenNI2.jni.so │ │ │ ├── libOpenNI2.so │ │ │ └── org.openni.jar │ ├── launch │ │ ├── astra.launch │ │ ├── astra_rgb.launch │ │ ├── astra_tf_prefix.launch │ │ ├── astraplus.launch │ │ ├── astrapro.launch │ │ ├── astraprosm.launch │ │ ├── dabai_u3.launch │ │ ├── embedded_s.launch │ │ ├── gemini.launch │ │ ├── includes │ │ │ ├── astra_frames.launch │ │ │ ├── color.launch │ │ │ ├── depth.launch │ │ │ ├── device.launch │ │ │ ├── device.launch.xml │ │ │ ├── ir.launch │ │ │ ├── manager.launch │ │ │ ├── pointclouds.launch │ │ │ └── processing.launch │ │ ├── multi_astra.launch │ │ ├── stereo_s.launch │ │ └── stereo_s_u3.launch │ ├── package.xml │ ├── ros │ │ ├── astra_camera_node.cpp │ │ └── astra_camera_nodelet.cpp │ ├── scripts │ │ └── create_udev_rules │ ├── src │ │ ├── astra_convert.cpp │ │ ├── astra_device.cpp │ │ ├── astra_device_info.cpp │ │ ├── astra_device_manager.cpp │ │ ├── astra_device_type.cpp │ │ ├── astra_driver.cpp │ │ ├── astra_exception.cpp │ │ ├── astra_frame_listener.cpp │ │ ├── astra_timer_filter.cpp │ │ ├── astra_video_mode.cpp │ │ ├── libuvc_camera │ │ │ ├── camera_driver.cpp │ │ │ ├── main.cpp │ │ │ └── nodelet.cpp │ │ ├── list_devices.cpp │ │ └── usb_reset.c │ ├── srv │ │ ├── GetCameraInfo.srv │ │ ├── GetDeviceType.srv │ │ ├── GetIRExposure.srv │ │ ├── GetIRGain.srv │ │ ├── GetSerial.srv │ │ ├── GetUVCExposure.srv │ │ ├── GetUVCGain.srv │ │ ├── GetUVCWhiteBalance.srv │ │ ├── ResetIRExposure.srv │ │ ├── ResetIRGain.srv │ │ ├── SetIRExposure.srv │ │ ├── SetIRFlood.srv │ │ ├── SetIRGain.srv │ │ ├── SetLDP.srv │ │ ├── SetLaser.srv │ │ ├── SetUVCExposure.srv │ │ ├── SetUVCGain.srv │ │ ├── SetUVCWhiteBalance.srv │ │ └── SwitchIRCamera.srv │ └── test │ │ └── test_wrapper.cpp ├── camera_driver_transfer │ ├── CMakeLists.txt │ ├── launch │ │ ├── astra.launch │ │ ├── astrapro.launch │ │ └── d435.launch │ └── package.xml └── realsense-ros │ ├── .gitignore │ ├── .travis.yml │ ├── LICENSE │ ├── NOTICE │ ├── README.md │ ├── realsense2_camera │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ ├── base_realsense_node.h │ │ ├── constants.h │ │ ├── realsense_node_factory.h │ │ └── t265_realsense_node.h │ ├── launch │ │ ├── demo_pointcloud.launch │ │ ├── demo_t265.launch │ │ ├── includes │ │ │ └── nodelet.launch.xml │ │ ├── opensource_tracking.launch │ │ ├── rs_aligned_depth.launch │ │ ├── rs_camera.launch │ │ ├── rs_d400_and_t265.launch │ │ ├── rs_d435_camera_with_model.launch │ │ ├── rs_from_file.launch │ │ ├── rs_multiple_devices.launch │ │ ├── rs_rgbd.launch │ │ ├── rs_rtabmap.launch │ │ └── rs_t265.launch │ ├── librealsense2_bionic.rdmanifest │ ├── librealsense2_xenial.rdmanifest │ ├── msg │ │ ├── Extrinsics.msg │ │ └── IMUInfo.msg │ ├── nodelet_plugins.xml │ ├── package.xml │ ├── rviz │ │ ├── pointcloud.rviz │ │ └── t265.rviz │ ├── scripts │ │ ├── rs2_listener.py │ │ ├── rs2_test.py │ │ ├── set_cams_transforms.py │ │ └── show_center_depth.py │ └── src │ │ ├── base_realsense_node.cpp │ │ ├── realsense_node_factory.cpp │ │ └── t265_realsense_node.cpp │ └── realsense2_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ ├── view_d415_model.launch │ ├── view_d435_model.launch │ ├── view_d435i_model.launch │ ├── view_multiple_d435_models.launch │ ├── view_r410_model.launch │ └── view_r430_model.launch │ ├── meshes │ ├── d415.stl │ ├── d435.dae │ ├── plug.stl │ └── plug_collision.stl │ ├── package.xml │ ├── rviz │ └── urdf.rviz │ ├── tests │ ├── dual_d415.xacro │ ├── dual_d435.xacro │ ├── dual_r410.xacro │ ├── dual_r430.xacro │ ├── one_of_each.xacro │ └── test_xacro.py │ └── urdf │ ├── _d415.urdf.xacro │ ├── _d435.urdf.xacro │ ├── _d435i.urdf.xacro │ ├── _d435i_imu_modules.urdf.xacro │ ├── _materials.urdf.xacro │ ├── _r410.urdf.xacro │ ├── _r430.urdf.xacro │ ├── _usb_plug.urdf.xacro │ ├── test_d415_camera.urdf.xacro │ ├── test_d435_camera.urdf.xacro │ ├── test_d435_multiple_cameras.urdf.xacro │ ├── test_d435i_camera.urdf.xacro │ ├── test_r410_camera.urdf.xacro │ └── test_r430_camera.urdf.xacro └── lidar ├── YDLidar-SDK ├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── LICENSE.txt ├── README.md ├── README.pdf ├── cmake │ ├── FindPackage.cmake.in │ ├── PackageConfig.cmake.in │ ├── PackageConfigVersion.cmake.in │ ├── PkgConfig.pc.in │ ├── cmake_uninstall.cmake.in │ ├── common │ │ ├── ydlidar_base.cmake │ │ └── ydlidar_parse.cmake │ ├── install_package.cmake │ └── script_show_final_summary.cmake ├── core │ ├── CMakeLists.txt │ ├── base │ │ ├── CMakeLists.txt │ │ ├── datatype.h │ │ ├── locker.h │ │ ├── thread.h │ │ ├── timer.cpp │ │ ├── timer.h │ │ ├── typedef.h │ │ ├── utils.h │ │ ├── v8stdint.h │ │ └── ydlidar.h │ ├── common │ │ ├── CMakeLists.txt │ │ ├── ChannelDevice.h │ │ ├── DriverInterface.h │ │ ├── ydlidar_datatype.h │ │ ├── ydlidar_def.cpp │ │ ├── ydlidar_def.h │ │ ├── ydlidar_help.h │ │ └── ydlidar_protocol.h │ ├── math │ │ ├── CMakeLists.txt │ │ └── angles.h │ ├── network │ │ ├── ActiveSocket.cpp │ │ ├── ActiveSocket.h │ │ ├── CMakeLists.txt │ │ ├── PassiveSocket.cpp │ │ ├── PassiveSocket.h │ │ ├── SimpleSocket.cpp │ │ ├── SimpleSocket.h │ │ └── StatTimer.h │ └── serial │ │ ├── CMakeLists.txt │ │ ├── common.h │ │ ├── impl │ │ ├── CMakeLists.txt │ │ ├── unix │ │ │ ├── CMakeLists.txt │ │ │ ├── list_ports_linux.cpp │ │ │ ├── lock.c │ │ │ ├── lock.h │ │ │ ├── unix.h │ │ │ ├── unix_serial.cpp │ │ │ └── unix_serial.h │ │ └── windows │ │ │ ├── CMakeLists.txt │ │ │ ├── list_ports_win.cpp │ │ │ ├── win.h │ │ │ ├── win_serial.cpp │ │ │ └── win_serial.h │ │ ├── serial.cpp │ │ └── serial.h ├── csharp │ ├── CMakeLists.txt │ ├── examples │ │ ├── CMakeLists.txt │ │ └── Program.cs │ └── ydlidar_sdk.i ├── doc │ ├── Dataset.md │ ├── Diagram.md │ ├── FAQs │ │ ├── General_FAQs.md │ │ ├── General_FAQs_cn.md │ │ ├── Hardware_FAQs.md │ │ ├── Hardware_FAQs_cn.md │ │ ├── README.md │ │ ├── Software_FAQs.md │ │ └── Software_FAQs_cn.md │ ├── README.md │ ├── SDK.pdf │ ├── Tutorials.md │ ├── YDLIDAR_SDK_API_for_Developers.md │ ├── YDLidar-SDK-Communication-Protocol.html │ ├── YDLidar-SDK-Communication-Protocol.md │ ├── YDLidar-SDK-Communication-Protocol.pdf │ ├── YDLidar_SDK_Communication_Protocol.pdf │ ├── howto │ │ ├── README.md │ │ ├── how_to_build_and_debug_using_vscode.md │ │ ├── how_to_build_and_install.md │ │ ├── how_to_create_a_csharp_project.md │ │ ├── how_to_create_a_pull.md │ │ ├── how_to_create_a_udev_rules.md │ │ ├── how_to_gerenrate_vs_project_by_cmake.md │ │ ├── how_to_solve_slow_pull_from_cn.md │ │ └── images │ │ │ ├── cpack.png │ │ │ ├── csharp_build.png │ │ │ ├── csharp_exception.png │ │ │ ├── csharp_library.png │ │ │ ├── csharp_project.png │ │ │ ├── csharp_running.png │ │ │ ├── sdk_init.png │ │ │ ├── sdk_scanning.png │ │ │ ├── sequence.png │ │ │ ├── ttyUSB0.png │ │ │ ├── ttyUSB1.png │ │ │ ├── vscode │ │ │ ├── run_tasks.jpg │ │ │ └── tasks.png │ │ │ └── ydlidar_lidar_monitor.png │ ├── images │ │ ├── EAI.png │ │ ├── FlowChart.png │ │ ├── YDLidar.jpg │ │ ├── YDLidar.png │ │ ├── angle_q2.png │ │ ├── communication_mechanism.png │ │ ├── frame.png │ │ ├── frame_intensity.png │ │ ├── sdk_architecture.png │ │ ├── sdk_init.png │ │ ├── sdk_scanning.png │ │ ├── sequence.png │ │ └── system_workflow.png │ ├── quickstart │ │ ├── README.md │ │ └── ydlidar_sdk_software_installation_guide.md │ └── tutorials │ │ ├── examine_the_simple_lidar_tutorial.md │ │ ├── writing_lidar_network_adapter_tutorial_c++.md │ │ ├── writing_lidar_tutorial_c++.md │ │ ├── writing_lidar_tutorial_c.md │ │ └── writing_lidar_tutorial_python.md ├── python │ ├── CMakeLists.txt │ ├── examples │ │ ├── CMakeLists.txt │ │ ├── etlidar_test.py │ │ ├── plot_tof_test.py │ │ ├── plot_ydlidar_test.py │ │ ├── test.py │ │ ├── tof_test.py │ │ └── ydlidar_test.py │ ├── numpy.i │ ├── test │ │ └── pytest.py │ └── ydlidar_sdk.i ├── samples │ ├── CMakeLists.txt │ ├── etlidar_test.cpp │ ├── lidar_c_api_test.c │ ├── tof_test.cpp │ └── ydlidar_test.cpp ├── setup.py ├── src │ ├── CMakeLists.txt │ ├── CYdLidar.cpp │ ├── CYdLidar.h │ ├── ETLidarDriver.cpp │ ├── ETLidarDriver.h │ ├── ydlidar_driver.cpp │ ├── ydlidar_driver.h │ ├── ydlidar_sdk.cpp │ └── ydlidar_sdk.h ├── startup │ └── initenv.sh ├── test │ ├── CMakeLists.txt │ ├── lidar_test.cpp │ └── lidar_test.h └── ydlidar_config.h.in ├── iiiroboticslidar2 ├── CMakeLists.txt ├── README.md ├── launch │ ├── 3iroboticslidar2.launch │ └── view_3iroboticslidar2.launch ├── package.xml ├── rviz │ └── 3iroboticslidar2.rviz ├── sdk │ ├── include │ │ ├── C3iroboticsLidar.h │ │ ├── CArcTime.h │ │ ├── CCountDown.h │ │ ├── CDeviceConnection.h │ │ ├── CLidarPacket.h │ │ ├── CLidarPacketReceiver.h │ │ ├── CLidarPacketSender.h │ │ ├── CLogUtitls.h │ │ ├── CSerialConnection.h │ │ ├── CTime.h │ │ └── typedef.h │ └── src │ │ ├── C3iroboticsLidar.cpp │ │ ├── CArcTime.cpp │ │ ├── CCountDown.cpp │ │ ├── CDeviceConnection.cpp │ │ ├── CLidarPacket.cpp │ │ ├── CLidarPacketReceiver.cpp │ │ ├── CLidarPacketSender.cpp │ │ ├── CSerialConnection.cpp │ │ └── CTime.cpp └── src │ ├── CMakeLists.txt │ ├── client.cpp │ └── node.cpp ├── lidar_driver_transfer ├── CMakeLists.txt ├── launch │ ├── 3iroboticslidar2.launch │ ├── ydlidar_g2.launch │ └── ydlidar_g6.launch └── package.xml ├── ydlidar_g2 ├── .gitignore ├── CMakeLists.txt ├── README.md ├── launch │ ├── display.launch │ ├── gazebo.launch │ ├── lidar.launch │ ├── lidar.rviz │ └── lidar_view.launch ├── meshes │ ├── ydlidar.dae │ └── ydlidar.png ├── package.xml ├── sdk │ ├── CMakeLists.txt │ ├── README.md │ ├── doc │ │ ├── Doxyfile │ │ ├── YDLIDAR G2-SS-1.pdf │ │ └── html │ │ │ ├── _active_socket_8h_source.html │ │ │ ├── _c_yd_lidar_8h_source.html │ │ │ ├── _channel_device_8h_source.html │ │ │ ├── _convert_u_t_f_8h_source.html │ │ │ ├── _host_8h_source.html │ │ │ ├── _passive_socket_8h_source.html │ │ │ ├── _simple_ini_8h_source.html │ │ │ ├── _simple_socket_8h_source.html │ │ │ ├── _stat_timer_8h_source.html │ │ │ ├── annotated.html │ │ │ ├── app(2).png │ │ │ ├── arrowdown.png │ │ │ ├── arrowright.png │ │ │ ├── bc_s.png │ │ │ ├── bdwn.png │ │ │ ├── class_c_simple_ini_templ-members.html │ │ │ ├── class_c_simple_ini_templ.html │ │ │ ├── class_c_simple_ini_templ_1_1_converter-members.html │ │ │ ├── class_c_simple_ini_templ_1_1_converter.html │ │ │ ├── class_c_simple_ini_templ_1_1_converter__coll__graph.map │ │ │ ├── class_c_simple_ini_templ_1_1_converter__coll__graph.md5 │ │ │ ├── class_c_simple_ini_templ_1_1_converter__coll__graph.png │ │ │ ├── class_c_simple_ini_templ_1_1_converter__inherit__graph.map │ │ │ ├── class_c_simple_ini_templ_1_1_converter__inherit__graph.md5 │ │ │ ├── class_c_simple_ini_templ_1_1_converter__inherit__graph.png │ │ │ ├── class_c_simple_ini_templ_1_1_file_writer-members.html │ │ │ ├── class_c_simple_ini_templ_1_1_file_writer.html │ │ │ ├── class_c_simple_ini_templ_1_1_file_writer__coll__graph.map │ │ │ ├── class_c_simple_ini_templ_1_1_file_writer__coll__graph.md5 │ │ │ ├── class_c_simple_ini_templ_1_1_file_writer__coll__graph.png │ │ │ ├── class_c_simple_ini_templ_1_1_file_writer__inherit__graph.map │ │ │ ├── class_c_simple_ini_templ_1_1_file_writer__inherit__graph.md5 │ │ │ ├── class_c_simple_ini_templ_1_1_file_writer__inherit__graph.png │ │ │ ├── class_c_simple_ini_templ_1_1_output_writer-members.html │ │ │ ├── class_c_simple_ini_templ_1_1_output_writer.html │ │ │ ├── class_c_simple_ini_templ_1_1_output_writer__inherit__graph.map │ │ │ ├── class_c_simple_ini_templ_1_1_output_writer__inherit__graph.md5 │ │ │ ├── class_c_simple_ini_templ_1_1_output_writer__inherit__graph.png │ │ │ ├── class_c_simple_ini_templ_1_1_string_writer-members.html │ │ │ ├── class_c_simple_ini_templ_1_1_string_writer.html │ │ │ ├── class_c_simple_ini_templ_1_1_string_writer__coll__graph.map │ │ │ ├── class_c_simple_ini_templ_1_1_string_writer__coll__graph.md5 │ │ │ ├── class_c_simple_ini_templ_1_1_string_writer__coll__graph.png │ │ │ ├── class_c_simple_ini_templ_1_1_string_writer__inherit__graph.map │ │ │ ├── class_c_simple_ini_templ_1_1_string_writer__inherit__graph.md5 │ │ │ ├── class_c_simple_ini_templ_1_1_string_writer__inherit__graph.png │ │ │ ├── class_c_stat_timer-members.html │ │ │ ├── class_c_stat_timer.html │ │ │ ├── class_c_yd_lidar-members.html │ │ │ ├── class_c_yd_lidar.html │ │ │ ├── class_channel_device-members.html │ │ │ ├── class_channel_device.html │ │ │ ├── class_channel_device__inherit__graph.map │ │ │ ├── class_channel_device__inherit__graph.md5 │ │ │ ├── class_channel_device__inherit__graph.png │ │ │ ├── class_event-members.html │ │ │ ├── class_event.html │ │ │ ├── class_locker-members.html │ │ │ ├── class_locker.html │ │ │ ├── class_s_i___convert_a-members.html │ │ │ ├── class_s_i___convert_a.html │ │ │ ├── class_s_i___convert_w-members.html │ │ │ ├── class_s_i___convert_w.html │ │ │ ├── class_scoped_locker-members.html │ │ │ ├── class_scoped_locker.html │ │ │ ├── class_scoped_locker__coll__graph.map │ │ │ ├── class_scoped_locker__coll__graph.md5 │ │ │ ├── class_scoped_locker__coll__graph.png │ │ │ ├── class_thread-members.html │ │ │ ├── class_thread.html │ │ │ ├── classes.html │ │ │ ├── classserial_1_1_millisecond_timer-members.html │ │ │ ├── classserial_1_1_millisecond_timer.html │ │ │ ├── classserial_1_1_serial-members.html │ │ │ ├── classserial_1_1_serial.html │ │ │ ├── classserial_1_1_serial_1_1_scoped_read_lock-members.html │ │ │ ├── classserial_1_1_serial_1_1_scoped_read_lock.html │ │ │ ├── classserial_1_1_serial_1_1_scoped_write_lock-members.html │ │ │ ├── classserial_1_1_serial_1_1_scoped_write_lock.html │ │ │ ├── classserial_1_1_serial_1_1_serial_impl-members.html │ │ │ ├── classserial_1_1_serial_1_1_serial_impl.html │ │ │ ├── classserial_1_1_serial__coll__graph.map │ │ │ ├── classserial_1_1_serial__coll__graph.md5 │ │ │ ├── classserial_1_1_serial__coll__graph.png │ │ │ ├── classserial_1_1_serial__inherit__graph.map │ │ │ ├── classserial_1_1_serial__inherit__graph.md5 │ │ │ ├── classserial_1_1_serial__inherit__graph.png │ │ │ ├── classserial_1_1serial_1_1_serial_1_1_serial_impl-members.html │ │ │ ├── classserial_1_1serial_1_1_serial_1_1_serial_impl.html │ │ │ ├── classydlidar_1_1_c_active_socket-members.html │ │ │ ├── classydlidar_1_1_c_active_socket.html │ │ │ ├── classydlidar_1_1_c_active_socket__coll__graph.map │ │ │ ├── classydlidar_1_1_c_active_socket__coll__graph.md5 │ │ │ ├── classydlidar_1_1_c_active_socket__coll__graph.png │ │ │ ├── classydlidar_1_1_c_active_socket__inherit__graph.map │ │ │ ├── classydlidar_1_1_c_active_socket__inherit__graph.md5 │ │ │ ├── classydlidar_1_1_c_active_socket__inherit__graph.png │ │ │ ├── classydlidar_1_1_c_passive_socket-members.html │ │ │ ├── classydlidar_1_1_c_passive_socket.html │ │ │ ├── classydlidar_1_1_c_passive_socket__coll__graph.map │ │ │ ├── classydlidar_1_1_c_passive_socket__coll__graph.md5 │ │ │ ├── classydlidar_1_1_c_passive_socket__coll__graph.png │ │ │ ├── classydlidar_1_1_c_passive_socket__inherit__graph.map │ │ │ ├── classydlidar_1_1_c_passive_socket__inherit__graph.md5 │ │ │ ├── classydlidar_1_1_c_passive_socket__inherit__graph.png │ │ │ ├── classydlidar_1_1_c_simple_socket-members.html │ │ │ ├── classydlidar_1_1_c_simple_socket.html │ │ │ ├── classydlidar_1_1_c_simple_socket__coll__graph.map │ │ │ ├── classydlidar_1_1_c_simple_socket__coll__graph.md5 │ │ │ ├── classydlidar_1_1_c_simple_socket__coll__graph.png │ │ │ ├── classydlidar_1_1_c_simple_socket__inherit__graph.map │ │ │ ├── classydlidar_1_1_c_simple_socket__inherit__graph.md5 │ │ │ ├── classydlidar_1_1_c_simple_socket__inherit__graph.png │ │ │ ├── classydlidar_1_1_y_dlidar_driver-members.html │ │ │ ├── classydlidar_1_1_y_dlidar_driver.html │ │ │ ├── classydlidar_1_1_y_dlidar_driver__coll__graph.map │ │ │ ├── classydlidar_1_1_y_dlidar_driver__coll__graph.md5 │ │ │ ├── classydlidar_1_1_y_dlidar_driver__coll__graph.png │ │ │ ├── closed.png │ │ │ ├── common_8h_source.html │ │ │ ├── dir_0834a1453ead243784276400df23f54f.html │ │ │ ├── dir_3808e3f8fe545b07b1d2715928fb0eea.html │ │ │ ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html │ │ │ ├── dir_68d46136ab8a8bc94545215845910cfb.html │ │ │ ├── dir_6f9635d4fbfa321d4c00f29df5cd540c.html │ │ │ ├── dir_cfa68689d3aca823fc84b2132e590e35.html │ │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ │ ├── doc.png │ │ │ ├── doxygen.css │ │ │ ├── doxygen.png │ │ │ ├── dynsections.js │ │ │ ├── files.html │ │ │ ├── folderclosed.png │ │ │ ├── folderopen.png │ │ │ ├── functions.html │ │ │ ├── functions_0x7e.html │ │ │ ├── functions_a.html │ │ │ ├── functions_b.html │ │ │ ├── functions_c.html │ │ │ ├── functions_d.html │ │ │ ├── functions_e.html │ │ │ ├── functions_enum.html │ │ │ ├── functions_eval.html │ │ │ ├── functions_f.html │ │ │ ├── functions_func.html │ │ │ ├── functions_g.html │ │ │ ├── functions_h.html │ │ │ ├── functions_i.html │ │ │ ├── functions_l.html │ │ │ ├── functions_m.html │ │ │ ├── functions_o.html │ │ │ ├── functions_p.html │ │ │ ├── functions_r.html │ │ │ ├── functions_s.html │ │ │ ├── functions_t.html │ │ │ ├── functions_type.html │ │ │ ├── functions_u.html │ │ │ ├── functions_vars.html │ │ │ ├── functions_w.html │ │ │ ├── functions_y.html │ │ │ ├── graph_legend.html │ │ │ ├── graph_legend.md5 │ │ │ ├── graph_legend.png │ │ │ ├── hierarchy.html │ │ │ ├── index.html │ │ │ ├── inherit_graph_0.map │ │ │ ├── inherit_graph_0.md5 │ │ │ ├── inherit_graph_0.png │ │ │ ├── inherit_graph_1.map │ │ │ ├── inherit_graph_1.md5 │ │ │ ├── inherit_graph_1.png │ │ │ ├── inherit_graph_10.map │ │ │ ├── inherit_graph_10.md5 │ │ │ ├── inherit_graph_10.png │ │ │ ├── inherit_graph_11.map │ │ │ ├── inherit_graph_11.md5 │ │ │ ├── inherit_graph_11.png │ │ │ ├── inherit_graph_12.map │ │ │ ├── inherit_graph_12.md5 │ │ │ ├── inherit_graph_12.png │ │ │ ├── inherit_graph_13.map │ │ │ ├── inherit_graph_13.md5 │ │ │ ├── inherit_graph_13.png │ │ │ ├── inherit_graph_14.map │ │ │ ├── inherit_graph_14.md5 │ │ │ ├── inherit_graph_14.png │ │ │ ├── inherit_graph_15.map │ │ │ ├── inherit_graph_15.md5 │ │ │ ├── inherit_graph_15.png │ │ │ ├── inherit_graph_16.map │ │ │ ├── inherit_graph_16.md5 │ │ │ ├── inherit_graph_16.png │ │ │ ├── inherit_graph_17.map │ │ │ ├── inherit_graph_17.md5 │ │ │ ├── inherit_graph_17.png │ │ │ ├── inherit_graph_18.map │ │ │ ├── inherit_graph_18.md5 │ │ │ ├── inherit_graph_18.png │ │ │ ├── inherit_graph_19.map │ │ │ ├── inherit_graph_19.md5 │ │ │ ├── inherit_graph_19.png │ │ │ ├── inherit_graph_2.map │ │ │ ├── inherit_graph_2.md5 │ │ │ ├── inherit_graph_2.png │ │ │ ├── inherit_graph_20.map │ │ │ ├── inherit_graph_20.md5 │ │ │ ├── inherit_graph_20.png │ │ │ ├── inherit_graph_21.map │ │ │ ├── inherit_graph_21.md5 │ │ │ ├── inherit_graph_21.png │ │ │ ├── inherit_graph_22.map │ │ │ ├── inherit_graph_22.md5 │ │ │ ├── inherit_graph_22.png │ │ │ ├── inherit_graph_23.map │ │ │ ├── inherit_graph_23.md5 │ │ │ ├── inherit_graph_23.png │ │ │ ├── inherit_graph_24.map │ │ │ ├── inherit_graph_24.md5 │ │ │ ├── inherit_graph_24.png │ │ │ ├── inherit_graph_25.map │ │ │ ├── inherit_graph_25.md5 │ │ │ ├── inherit_graph_25.png │ │ │ ├── inherit_graph_26.map │ │ │ ├── inherit_graph_26.md5 │ │ │ ├── inherit_graph_26.png │ │ │ ├── inherit_graph_27.map │ │ │ ├── inherit_graph_27.md5 │ │ │ ├── inherit_graph_27.png │ │ │ ├── inherit_graph_28.map │ │ │ ├── inherit_graph_28.md5 │ │ │ ├── inherit_graph_28.png │ │ │ ├── inherit_graph_29.map │ │ │ ├── inherit_graph_29.md5 │ │ │ ├── inherit_graph_29.png │ │ │ ├── inherit_graph_3.map │ │ │ ├── inherit_graph_3.md5 │ │ │ ├── inherit_graph_3.png │ │ │ ├── inherit_graph_30.map │ │ │ ├── inherit_graph_30.md5 │ │ │ ├── inherit_graph_30.png │ │ │ ├── inherit_graph_31.map │ │ │ ├── inherit_graph_31.md5 │ │ │ ├── inherit_graph_31.png │ │ │ ├── inherit_graph_32.map │ │ │ ├── inherit_graph_32.md5 │ │ │ ├── inherit_graph_32.png │ │ │ ├── inherit_graph_33.map │ │ │ ├── inherit_graph_33.md5 │ │ │ ├── inherit_graph_33.png │ │ │ ├── inherit_graph_34.map │ │ │ ├── inherit_graph_34.md5 │ │ │ ├── inherit_graph_34.png │ │ │ ├── inherit_graph_35.map │ │ │ ├── inherit_graph_35.md5 │ │ │ ├── inherit_graph_35.png │ │ │ ├── inherit_graph_36.map │ │ │ ├── inherit_graph_36.md5 │ │ │ ├── inherit_graph_36.png │ │ │ ├── inherit_graph_37.map │ │ │ ├── inherit_graph_37.md5 │ │ │ ├── inherit_graph_37.png │ │ │ ├── inherit_graph_38.map │ │ │ ├── inherit_graph_38.md5 │ │ │ ├── inherit_graph_38.png │ │ │ ├── inherit_graph_39.map │ │ │ ├── inherit_graph_39.md5 │ │ │ ├── inherit_graph_39.png │ │ │ ├── inherit_graph_4.map │ │ │ ├── inherit_graph_4.md5 │ │ │ ├── inherit_graph_4.png │ │ │ ├── inherit_graph_40.map │ │ │ ├── inherit_graph_40.md5 │ │ │ ├── inherit_graph_40.png │ │ │ ├── inherit_graph_41.map │ │ │ ├── inherit_graph_41.md5 │ │ │ ├── inherit_graph_41.png │ │ │ ├── inherit_graph_42.map │ │ │ ├── inherit_graph_42.md5 │ │ │ ├── inherit_graph_42.png │ │ │ ├── inherit_graph_5.map │ │ │ ├── inherit_graph_5.md5 │ │ │ ├── inherit_graph_5.png │ │ │ ├── inherit_graph_6.map │ │ │ ├── inherit_graph_6.md5 │ │ │ ├── inherit_graph_6.png │ │ │ ├── inherit_graph_7.map │ │ │ ├── inherit_graph_7.md5 │ │ │ ├── inherit_graph_7.png │ │ │ ├── inherit_graph_8.map │ │ │ ├── inherit_graph_8.md5 │ │ │ ├── inherit_graph_8.png │ │ │ ├── inherit_graph_9.map │ │ │ ├── inherit_graph_9.md5 │ │ │ ├── inherit_graph_9.png │ │ │ ├── inherits.html │ │ │ ├── jquery.js │ │ │ ├── lock_8h_source.html │ │ │ ├── locker_8h_source.html │ │ │ ├── md_README.html │ │ │ ├── md__home_yang_Laser_SM_sdk_README.html │ │ │ ├── md__home_yang_tmp_sdk_README.html │ │ │ ├── namespacemembers.html │ │ │ ├── namespacemembers_enum.html │ │ │ ├── namespaces.html │ │ │ ├── namespaceserial.html │ │ │ ├── namespaceydlidar.html │ │ │ ├── nav_f.png │ │ │ ├── nav_g.png │ │ │ ├── nav_h.png │ │ │ ├── open.png │ │ │ ├── pages.html │ │ │ ├── search │ │ │ ├── all_0.html │ │ │ ├── all_0.js │ │ │ ├── all_1.html │ │ │ ├── all_1.js │ │ │ ├── all_10.html │ │ │ ├── all_10.js │ │ │ ├── all_11.html │ │ │ ├── all_11.js │ │ │ ├── all_12.html │ │ │ ├── all_12.js │ │ │ ├── all_13.html │ │ │ ├── all_13.js │ │ │ ├── all_14.html │ │ │ ├── all_14.js │ │ │ ├── all_15.html │ │ │ ├── all_15.js │ │ │ ├── all_16.html │ │ │ ├── all_16.js │ │ │ ├── all_2.html │ │ │ ├── all_2.js │ │ │ ├── all_3.html │ │ │ ├── all_3.js │ │ │ ├── all_4.html │ │ │ ├── all_4.js │ │ │ ├── all_5.html │ │ │ ├── all_5.js │ │ │ ├── all_6.html │ │ │ ├── all_6.js │ │ │ ├── all_7.html │ │ │ ├── all_7.js │ │ │ ├── all_8.html │ │ │ ├── all_8.js │ │ │ ├── all_9.html │ │ │ ├── all_9.js │ │ │ ├── all_a.html │ │ │ ├── all_a.js │ │ │ ├── all_b.html │ │ │ ├── all_b.js │ │ │ ├── all_c.html │ │ │ ├── all_c.js │ │ │ ├── all_d.html │ │ │ ├── all_d.js │ │ │ ├── all_e.html │ │ │ ├── all_e.js │ │ │ ├── all_f.html │ │ │ ├── all_f.js │ │ │ ├── classes_0.html │ │ │ ├── classes_0.js │ │ │ ├── classes_1.html │ │ │ ├── classes_1.js │ │ │ ├── classes_2.html │ │ │ ├── classes_2.js │ │ │ ├── classes_3.html │ │ │ ├── classes_3.js │ │ │ ├── classes_4.html │ │ │ ├── classes_4.js │ │ │ ├── classes_5.html │ │ │ ├── classes_5.js │ │ │ ├── classes_6.html │ │ │ ├── classes_6.js │ │ │ ├── classes_7.html │ │ │ ├── classes_7.js │ │ │ ├── classes_8.html │ │ │ ├── classes_8.js │ │ │ ├── classes_9.html │ │ │ ├── classes_9.js │ │ │ ├── classes_a.html │ │ │ ├── classes_a.js │ │ │ ├── classes_b.html │ │ │ ├── classes_b.js │ │ │ ├── classes_c.html │ │ │ ├── classes_c.js │ │ │ ├── close.png │ │ │ ├── enums_0.html │ │ │ ├── enums_0.js │ │ │ ├── enums_1.html │ │ │ ├── enums_1.js │ │ │ ├── enums_2.html │ │ │ ├── enums_2.js │ │ │ ├── enums_3.html │ │ │ ├── enums_3.js │ │ │ ├── enums_4.html │ │ │ ├── enums_4.js │ │ │ ├── enumvalues_0.html │ │ │ ├── enumvalues_0.js │ │ │ ├── enumvalues_1.html │ │ │ ├── enumvalues_1.js │ │ │ ├── enumvalues_2.html │ │ │ ├── enumvalues_2.js │ │ │ ├── enumvalues_3.html │ │ │ ├── enumvalues_3.js │ │ │ ├── enumvalues_4.html │ │ │ ├── enumvalues_4.js │ │ │ ├── enumvalues_5.html │ │ │ ├── enumvalues_5.js │ │ │ ├── functions_0.html │ │ │ ├── functions_0.js │ │ │ ├── functions_1.html │ │ │ ├── functions_1.js │ │ │ ├── functions_2.html │ │ │ ├── functions_2.js │ │ │ ├── functions_3.html │ │ │ ├── functions_3.js │ │ │ ├── functions_4.html │ │ │ ├── functions_4.js │ │ │ ├── functions_5.html │ │ │ ├── functions_5.js │ │ │ ├── functions_6.html │ │ │ ├── functions_6.js │ │ │ ├── functions_7.html │ │ │ ├── functions_7.js │ │ │ ├── functions_8.html │ │ │ ├── functions_8.js │ │ │ ├── functions_9.html │ │ │ ├── functions_9.js │ │ │ ├── functions_a.html │ │ │ ├── functions_a.js │ │ │ ├── functions_b.html │ │ │ ├── functions_b.js │ │ │ ├── functions_c.html │ │ │ ├── functions_c.js │ │ │ ├── functions_d.html │ │ │ ├── functions_d.js │ │ │ ├── functions_e.html │ │ │ ├── functions_e.js │ │ │ ├── functions_f.html │ │ │ ├── functions_f.js │ │ │ ├── mag_sel.png │ │ │ ├── namespaces_0.html │ │ │ ├── namespaces_0.js │ │ │ ├── namespaces_1.html │ │ │ ├── namespaces_1.js │ │ │ ├── nomatches.html │ │ │ ├── pages_0.html │ │ │ ├── pages_0.js │ │ │ ├── search.css │ │ │ ├── search.js │ │ │ ├── search_l.png │ │ │ ├── search_m.png │ │ │ ├── search_r.png │ │ │ ├── searchdata.js │ │ │ ├── typedefs_0.html │ │ │ ├── typedefs_0.js │ │ │ ├── variables_0.html │ │ │ ├── variables_0.js │ │ │ ├── variables_1.html │ │ │ ├── variables_1.js │ │ │ ├── variables_2.html │ │ │ ├── variables_2.js │ │ │ ├── variables_3.html │ │ │ ├── variables_3.js │ │ │ ├── variables_4.html │ │ │ ├── variables_4.js │ │ │ ├── variables_5.html │ │ │ ├── variables_5.js │ │ │ ├── variables_6.html │ │ │ ├── variables_6.js │ │ │ ├── variables_7.html │ │ │ ├── variables_7.js │ │ │ ├── variables_8.html │ │ │ ├── variables_8.js │ │ │ ├── variables_9.html │ │ │ ├── variables_9.js │ │ │ ├── variables_a.html │ │ │ ├── variables_a.js │ │ │ ├── variables_b.html │ │ │ ├── variables_b.js │ │ │ ├── variables_c.html │ │ │ ├── variables_c.js │ │ │ ├── variables_d.html │ │ │ └── variables_d.js │ │ │ ├── serial_8h_source.html │ │ │ ├── splitbar.png │ │ │ ├── struct_c_simple_ini_templ_1_1_entry-members.html │ │ │ ├── struct_c_simple_ini_templ_1_1_entry.html │ │ │ ├── struct_c_simple_ini_templ_1_1_entry_1_1_key_order-members.html │ │ │ ├── struct_c_simple_ini_templ_1_1_entry_1_1_key_order.html │ │ │ ├── struct_c_simple_ini_templ_1_1_entry_1_1_load_order-members.html │ │ │ ├── struct_c_simple_ini_templ_1_1_entry_1_1_load_order.html │ │ │ ├── struct_laser_config-members.html │ │ │ ├── struct_laser_config.html │ │ │ ├── struct_laser_scan-members.html │ │ │ ├── struct_laser_scan.html │ │ │ ├── struct_laser_scan__coll__graph.map │ │ │ ├── struct_laser_scan__coll__graph.md5 │ │ │ ├── struct_laser_scan__coll__graph.png │ │ │ ├── struct_package_node-members.html │ │ │ ├── struct_package_node.html │ │ │ ├── struct_s_i___generic_case-members.html │ │ │ ├── struct_s_i___generic_case.html │ │ │ ├── struct_s_i___generic_no_case-members.html │ │ │ ├── struct_s_i___generic_no_case.html │ │ │ ├── structcmd__packet-members.html │ │ │ ├── structcmd__packet.html │ │ │ ├── structdevice__health-members.html │ │ │ ├── structdevice__health.html │ │ │ ├── structdevice__info-members.html │ │ │ ├── structdevice__info.html │ │ │ ├── structfunction__state-members.html │ │ │ ├── structfunction__state.html │ │ │ ├── structlidar__ans__header-members.html │ │ │ ├── structlidar__ans__header.html │ │ │ ├── structnode__info-members.html │ │ │ ├── structnode__info.html │ │ │ ├── structnode__package-members.html │ │ │ ├── structnode__package.html │ │ │ ├── structnode__package__coll__graph.map │ │ │ ├── structnode__package__coll__graph.md5 │ │ │ ├── structnode__package__coll__graph.png │ │ │ ├── structnode__packages-members.html │ │ │ ├── structnode__packages.html │ │ │ ├── structoffset__angle-members.html │ │ │ ├── structoffset__angle.html │ │ │ ├── structsampling__rate-members.html │ │ │ ├── structsampling__rate.html │ │ │ ├── structscan__exposure-members.html │ │ │ ├── structscan__exposure.html │ │ │ ├── structscan__frequency-members.html │ │ │ ├── structscan__frequency.html │ │ │ ├── structscan__heart__beat-members.html │ │ │ ├── structscan__heart__beat.html │ │ │ ├── structscan__points-members.html │ │ │ ├── structscan__points.html │ │ │ ├── structscan__rotation-members.html │ │ │ ├── structscan__rotation.html │ │ │ ├── structscan_dot-members.html │ │ │ ├── structscan_dot.html │ │ │ ├── structserial_1_1_port_info-members.html │ │ │ ├── structserial_1_1_port_info.html │ │ │ ├── structserial_1_1_port_info__coll__graph.map │ │ │ ├── structserial_1_1_port_info__coll__graph.md5 │ │ │ ├── structserial_1_1_port_info__coll__graph.png │ │ │ ├── structserial_1_1_timeout-members.html │ │ │ ├── structserial_1_1_timeout.html │ │ │ ├── structserial_1_1termios2-members.html │ │ │ ├── structserial_1_1termios2.html │ │ │ ├── sync_off.png │ │ │ ├── sync_on.png │ │ │ ├── tab_a.png │ │ │ ├── tab_b.png │ │ │ ├── tab_h.png │ │ │ ├── tab_s.png │ │ │ ├── tabs.css │ │ │ ├── thread_8h_source.html │ │ │ ├── timer_8h_source.html │ │ │ ├── unix_8h_source.html │ │ │ ├── unix__serial_8h_source.html │ │ │ ├── utils_8h_source.html │ │ │ ├── v8stdint_8h_source.html │ │ │ ├── win_8h_source.html │ │ │ ├── win__serial_8h_source.html │ │ │ ├── ydliar.png │ │ │ ├── ydlidar__driver_8h_source.html │ │ │ └── ydlidar__protocol_8h_source.html │ ├── image │ │ ├── image.png │ │ ├── index-X4.jpg │ │ ├── step1.png │ │ ├── step2.png │ │ ├── step3.png │ │ ├── step4.png │ │ ├── step5.png │ │ └── step6.png │ ├── include │ │ ├── CYdLidar.h │ │ ├── angles.h │ │ ├── lock.h │ │ ├── locker.h │ │ ├── serial.h │ │ ├── thread.h │ │ ├── timer.h │ │ ├── utils.h │ │ ├── v8stdint.h │ │ ├── ydlidar_driver.h │ │ └── ydlidar_protocol.h │ ├── license │ ├── samples │ │ ├── CMakeLists.txt │ │ └── main.cpp │ └── src │ │ ├── CYdLidar.cpp │ │ ├── common.h │ │ ├── impl │ │ ├── list_ports │ │ │ ├── list_ports_linux.cpp │ │ │ ├── list_ports_osx.cpp │ │ │ └── list_ports_win.cpp │ │ ├── unix │ │ │ ├── list_ports_linux.cpp │ │ │ ├── unix.h │ │ │ ├── unix_serial.cpp │ │ │ ├── unix_serial.h │ │ │ └── unix_timer.cpp │ │ └── windows │ │ │ ├── list_ports_win.cpp │ │ │ ├── win.h │ │ │ ├── win_serial.cpp │ │ │ ├── win_serial.h │ │ │ └── win_timer.cpp │ │ ├── lock.c │ │ ├── serial.cpp │ │ └── ydlidar_driver.cpp ├── src │ ├── ydlidar_client.cpp │ └── ydlidar_node.cpp ├── startup │ └── initenv.sh ├── urdf │ └── ydlidar.urdf └── ydlidar.rviz └── ydlidar_g6 ├── CATKIN_IGNORE ├── CMakeLists.txt ├── LICENSE.txt ├── README.md ├── details.md ├── images ├── EAI.png ├── YDLidar.jpg └── cmake_error.png ├── launch ├── G1.launch ├── G2.launch ├── G6_G7.launch ├── T15.launch ├── TG.launch ├── TSA.launch ├── TX.launch ├── X2.launch ├── X4.launch ├── lidar.launch ├── lidar.rviz └── lidar_view.launch ├── msg └── LaserFan.msg ├── package.xml ├── src └── ydlidar_ros_driver.cpp └── startup └── initenv.sh /.gitignore: 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