├── .github ├── issue-template.md └── pull-request-template.md ├── .gitignore ├── .gitmodules ├── .travis.yml ├── Doxygen ├── Doxyfile.in ├── doxygen-script.cmake ├── doxygen.cmake └── images │ ├── logo.jpg │ ├── logo_wide_white.png │ ├── members.png │ ├── vmrc.jpg │ └── wam_v.jpg ├── Format ├── ClangFormat.cmake └── install.sh ├── LICENCE └── LICENCE.md ├── README.md ├── dependencies.rosinstall ├── gource.sh ├── robotx_docker_simulation ├── CMakeLists.txt ├── README.md ├── docker_compose │ ├── docker-compose.yml │ ├── gazebo_sim │ │ └── Dockerfile │ └── jetson │ │ └── Dockerfile └── package.xml ├── robotx_gazebo ├── CMakeLists.txt ├── README.md ├── config │ ├── custom_rosconsole.conf │ ├── diffdrive.yaml │ ├── joint_control.yaml │ └── wave_motion_plot.perspective ├── dock_generator.erb ├── docs │ ├── Commands.tex │ ├── Makefile │ ├── defs.tex │ ├── images │ │ ├── sarda_tcurve.png │ │ ├── wamv_glf.png │ │ └── wamv_glf_annote.png │ ├── math_bbing.sty │ ├── refs.bib │ └── theory_of_operation.tex ├── include │ └── robotx_gazebo │ │ ├── gazebo_ros_color.hh │ │ ├── light_buoy_controller.hh │ │ └── symbol_controller.hh ├── launch │ ├── empty_world_robotx.launch │ ├── no_gravity.launch │ ├── ocean.launch │ ├── robotx_gazebo.launch │ ├── sandisland.launch │ └── vmrc.launch ├── models │ ├── ball │ │ └── ball.urdf │ ├── black_totem │ │ ├── model.config │ │ └── model.sdf │ ├── blue_totem │ │ ├── model.config │ │ └── model.sdf │ ├── dock_2016 │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.sdf.erb │ ├── dock_2016_base │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.sdf.erb │ ├── dock_2018 │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.sdf.erb │ ├── dock_2018_base │ │ ├── model.config │ │ ├── model.sdf │ │ └── model.sdf.erb │ ├── dock_block │ │ ├── mesh │ │ │ └── dock_block.dae │ │ ├── model.config │ │ └── model.sdf │ ├── dock_block_2x2 │ │ ├── mesh │ │ │ └── dock_block_2x2.dae │ │ ├── model.config │ │ └── model.sdf │ ├── dock_block_3x3 │ │ ├── mesh │ │ │ └── dock_block_3x3.dae │ │ ├── model.config │ │ └── model.sdf │ ├── dock_block_4x4 │ │ ├── mesh │ │ │ └── dock_block_4x4.dae │ │ ├── model.config │ │ └── model.sdf │ ├── green_totem │ │ ├── model.config │ │ └── model.sdf │ ├── ocean │ │ ├── materials │ │ │ ├── programs │ │ │ │ └── GLSL │ │ │ │ │ ├── Waves.frag │ │ │ │ │ └── Waves.vert │ │ │ ├── scripts │ │ │ │ └── ocean.material │ │ │ └── textures │ │ │ │ ├── clouds.jpg │ │ │ │ ├── clouds_bk.jpg │ │ │ │ ├── clouds_dn.jpg │ │ │ │ ├── clouds_fr.jpg │ │ │ │ ├── clouds_lf.jpg │ │ │ │ ├── clouds_rt.jpg │ │ │ │ ├── clouds_up.jpg │ │ │ │ └── normals.dds │ │ ├── meshes │ │ │ ├── mesh.blend │ │ │ ├── mesh.dae │ │ │ └── mesh_below.dae │ │ ├── model.config │ │ └── model.sdf │ ├── placard │ │ ├── model.config │ │ └── model.sdf │ ├── polyform_a3 │ │ ├── model.config │ │ └── model.sdf │ ├── polyform_a5 │ │ ├── model.config │ │ └── model.sdf │ ├── polyform_a7 │ │ ├── model.config │ │ └── model.sdf │ ├── red_totem │ │ ├── model.config │ │ └── model.sdf │ ├── robotx_2016_finals_pinger_transit │ │ ├── model.config │ │ └── model.sdf │ ├── robotx_2016_qualifying_pinger_transit │ │ ├── model.config │ │ └── model.sdf │ ├── robotx_2018_entrance_gate │ │ ├── model.config │ │ └── model.sdf │ ├── robotx_light_buoy │ │ ├── mesh │ │ │ └── robotx_light_buoy.dae │ │ ├── model.config │ │ └── model.sdf │ ├── robotx_navigation_challenge │ │ ├── model.config │ │ └── model.sdf │ ├── sandisland │ │ ├── heightmap.png │ │ ├── model.config │ │ └── model.sdf │ ├── surmark46104 │ │ ├── mesh │ │ │ └── surmark46104.dae │ │ ├── model.config │ │ └── model.sdf │ ├── surmark950400 │ │ ├── materials │ │ │ └── scripts │ │ │ │ └── surmark950400.material │ │ ├── mesh │ │ │ └── surmark950400.dae │ │ ├── model.config │ │ └── model.sdf │ ├── surmark950410 │ │ ├── materials │ │ │ └── scripts │ │ │ │ └── surmark950410.material │ │ ├── mesh │ │ │ └── surmark950410.dae │ │ ├── model.config │ │ └── model.sdf │ ├── symbol_circle │ │ ├── model.config │ │ └── model.sdf │ ├── symbol_cross │ │ ├── model.config │ │ └── model.sdf │ ├── symbol_triangle │ │ ├── mesh │ │ │ └── triangle.dae │ │ ├── model.config │ │ └── model.sdf │ └── yellow_totem │ │ ├── model.config │ │ └── model.sdf ├── nodes │ ├── quat2rpy.py │ └── twist2thrust.py ├── package.xml ├── src │ ├── gazebo_ros_color.cc │ ├── light_buoy_controller.cc │ └── symbol_controller.cc ├── test │ ├── helpers.hh │ ├── sandisland.cc │ └── sandisland.test ├── thrust_curve_fit │ ├── glf_fit.py │ ├── kingfisher_tcurve_nohead.csv │ ├── tcurve.csv │ ├── wamv_glf.png │ ├── wamv_glf_annote.png │ └── wamv_tcurve_nohead.csv └── worlds │ ├── example_course.world.xacro │ ├── no_gravity.world │ ├── ocean.world.xacro │ ├── ocean.xacro │ ├── sandisland.world.xacro │ ├── sandisland.xacro │ └── sandisland_buoys.world ├── robotx_packages ├── CMakeLists.txt └── package.xml ├── robotx_tools ├── CMakeLists.txt ├── cfg │ └── field_frame_publisher.cfg ├── config │ ├── cnn_result_visualizer.yaml │ ├── field_map_clicker.yaml │ ├── field_map_editor.rviz │ ├── google_statc_map_api_key_sample.yaml │ ├── gps_plotter_config.yaml │ ├── gps_pose_plotter.yaml │ ├── ground_station.rviz │ ├── map_editor.rviz │ ├── map_saver.yaml │ ├── navi_sim.rviz │ ├── navi_sim.yaml │ ├── wam-v.rviz │ └── waypoiont_clicker.yaml ├── data │ ├── 2018-12-11.csv │ └── gps-pose.csv ├── icons │ └── classes │ │ └── OverlayGpsDisplay.png ├── include │ ├── UTM.h │ ├── cnn_result_visualizer.h │ ├── field_frame_publisher.h │ ├── field_map_clicker.h │ ├── field_object_plotter.h │ ├── lat_lon_ruler.h │ ├── navi_sim.h │ ├── plant_green_buoy.h │ ├── plant_obstacle.h │ ├── plant_red_buoy.h │ ├── plant_white_buoy.h │ ├── state_visualizer.h │ ├── tcp_server.h │ └── waypoint_clicker.h ├── launch │ ├── build_fieldmap_from_rosbag.launch │ ├── field_editor.launch │ ├── ground_station.launch │ ├── navi_sim.launch │ ├── record.launch │ ├── rqt_bag.launch │ └── visualization.launch ├── package.xml ├── plugin_description.xml ├── resource │ └── wam-v_icon.png ├── rosbag │ └── .gitignore ├── scripts │ ├── field_map_builder.py │ ├── gps_plotter.py │ ├── gps_pose_plotter.py │ ├── kml_plotter.py │ ├── map_downloader.py │ ├── objects_2d_viewer.py │ └── plot_characteristic_curve.py ├── src │ ├── UTM.cpp │ ├── cnn_result_visualizer.cpp │ ├── cnn_result_visualizer_node.cpp │ ├── fake_technical_director_network_main.cpp │ ├── field_frame_publisher.cpp │ ├── field_frame_publisher_node.cpp │ ├── field_map_clicker.cpp │ ├── field_map_clicker_node.cpp │ ├── field_object_plotter.cpp │ ├── field_object_plotter_node.cpp │ ├── lat_lon_ruler.cpp │ ├── navi_sim.cpp │ ├── navi_sim_node.cpp │ ├── overlay_utils.cpp │ ├── plant_green_buoy.cpp │ ├── plant_obstacle.cpp │ ├── plant_red_buoy.cpp │ ├── plant_white_buoy.cpp │ ├── state_visualizer.cpp │ ├── state_visualizer_node.cpp │ ├── tcp_server.cpp │ ├── waypoint_clicker.cpp │ └── waypoint_clicker_node.cpp └── srv │ └── PlotCharacteristicCurve.srv ├── usv_gazebo_plugins ├── CMakeLists.txt ├── include │ └── usv_gazebo_plugins │ │ ├── buoyancy_gazebo_plugin.hh │ │ ├── usv_gazebo_dynamics_plugin.hh │ │ ├── usv_gazebo_thrust_plugin.hh │ │ └── usv_gazebo_wind_plugin.hh ├── package.xml └── src │ ├── buoyancy_gazebo_plugin.cc │ ├── usv_gazebo_dynamics_plugin.cc │ ├── usv_gazebo_thrust_plugin.cc │ ├── usv_gazebo_twist_sensor_plugin.cc │ └── usv_gazebo_wind_plugin.cc ├── view_gitlog.sh └── wamv_gazebo ├── CMakeLists.txt ├── README.md ├── launch ├── basic.launch └── robotx.launch ├── package.xml └── urdf ├── ball_launcher └── ball_launcher.gazebo.xacro ├── dynamics ├── dynamics.xacro ├── wamv_gazebo_dynamics_plugin.xacro └── wamv_gazebo_wind_plugin.xacro ├── sensors ├── 3d_lidar │ └── wamv_3d_lidar.xacro ├── camera │ └── camera.gazebo.xacro ├── gps │ └── gps.gazebo.xacro ├── imu │ └── imu.gazebo.xacro ├── multi_beam_laser │ └── wamv_planar_lidar.xacro ├── p3d │ └── wamv_p3d.xacro ├── sensors.xacro ├── stereo_camera │ └── stereo_camera.gazebo.xacro └── twist │ └── 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