├── LICENSE ├── README.md ├── ch11 ├── common_properties.xacro ├── example_with_two_links.urdf ├── mobile_base.xacro ├── my_robot.urdf └── my_robot.urdf.xacro ├── ch12 └── my_robot_description │ ├── CMakeLists.txt │ ├── launch │ ├── display.launch.py │ └── display.launch.xml │ ├── package.xml │ ├── rviz │ └── urdf_config.rviz │ └── urdf │ ├── common_properties.xacro │ ├── mobile_base.xacro │ └── my_robot.urdf.xacro ├── ch13 ├── my_robot_bringup │ ├── CMakeLists.txt │ ├── config │ │ └── gazebo_bridge.yaml │ ├── launch │ │ └── my_robot.launch.xml │ └── package.xml └── my_robot_description │ ├── CMakeLists.txt │ ├── launch │ ├── display.launch.py │ └── display.launch.xml │ ├── package.xml │ ├── rviz │ └── urdf_config.rviz │ └── urdf │ ├── common_properties.xacro │ ├── mobile_base.xacro │ ├── mobile_base_gazebo.xacro │ └── my_robot.urdf.xacro ├── ch4 ├── my_cpp_pkg │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── my_first_node.cpp ├── my_py_pkg │ ├── my_py_pkg │ │ ├── __init__.py │ │ └── my_first_node.py │ ├── package.xml │ ├── resource │ │ └── my_py_pkg │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py └── node_oop_template │ ├── node_oop_template.cpp │ └── node_oop_template.py ├── ch5 ├── my_cpp_pkg │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── my_first_node.cpp │ │ ├── number_counter.cpp │ │ └── number_publisher.cpp ├── my_py_pkg │ ├── my_py_pkg │ │ ├── __init__.py │ │ ├── my_first_node.py │ │ ├── number_counter.py │ │ └── number_publisher.py │ ├── package.xml │ ├── resource │ │ └── my_py_pkg │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py ├── my_robot_interfaces │ ├── CMakeLists.txt │ ├── msg │ │ └── HardwareStatus.msg │ └── package.xml ├── turtle_controller │ ├── package.xml │ ├── resource │ │ └── turtle_controller │ ├── setup.cfg │ ├── setup.py │ ├── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ └── turtle_controller │ │ ├── __init__.py │ │ └── turtle_controller.py └── turtle_controller_cpp │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ └── turtle_controller.cpp ├── ch6 ├── my_cpp_pkg │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── my_first_node.cpp │ │ ├── number_counter.cpp │ │ ├── number_publisher.cpp │ │ └── reset_counter_client.cpp ├── my_py_pkg │ ├── my_py_pkg │ │ ├── __init__.py │ │ ├── my_first_node.py │ │ ├── number_counter.py │ │ ├── number_publisher.py │ │ └── reset_counter_client.py │ ├── package.xml │ ├── resource │ │ └── my_py_pkg │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py ├── my_robot_interfaces │ ├── CMakeLists.txt │ ├── msg │ │ └── HardwareStatus.msg │ ├── package.xml │ └── srv │ │ ├── ActivateTurtle.srv │ │ └── ResetCounter.srv ├── turtle_controller │ ├── package.xml │ ├── resource │ │ └── turtle_controller │ ├── setup.cfg │ ├── setup.py │ ├── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ └── turtle_controller │ │ ├── __init__.py │ │ └── turtle_controller.py └── turtle_controller_cpp │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ └── turtle_controller.cpp ├── ch7 ├── my_cpp_pkg │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── count_until_client.cpp │ │ ├── count_until_client_minimal.cpp │ │ ├── count_until_server.cpp │ │ ├── count_until_server_minimal.cpp │ │ ├── my_first_node.cpp │ │ ├── number_counter.cpp │ │ ├── number_publisher.cpp │ │ └── reset_counter_client.cpp ├── my_py_pkg │ ├── my_py_pkg │ │ ├── __init__.py │ │ ├── count_until_client.py │ │ ├── count_until_client_minimal.py │ │ ├── count_until_server.py │ │ ├── count_until_server_minimal.py │ │ ├── my_first_node.py │ │ ├── number_counter.py │ │ ├── number_publisher.py │ │ └── reset_counter_client.py │ ├── package.xml │ ├── resource │ │ └── my_py_pkg │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py ├── my_robot_interfaces │ ├── CMakeLists.txt │ ├── action │ │ └── CountUntil.action │ ├── msg │ │ └── HardwareStatus.msg │ ├── package.xml │ └── srv │ │ ├── ActivateTurtle.srv │ │ └── ResetCounter.srv ├── turtle_controller │ ├── package.xml │ ├── resource │ │ └── turtle_controller │ ├── setup.cfg │ ├── setup.py │ ├── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ └── turtle_controller │ │ ├── __init__.py │ │ └── turtle_controller.py └── turtle_controller_cpp │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ └── turtle_controller.cpp ├── ch8 ├── YAML_files │ ├── number_params.yaml │ └── turtle_params.yaml ├── my_cpp_pkg │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── count_until_client.cpp │ │ ├── count_until_client_minimal.cpp │ │ ├── count_until_server.cpp │ │ ├── count_until_server_minimal.cpp │ │ ├── my_first_node.cpp │ │ ├── number_counter.cpp │ │ ├── number_publisher.cpp │ │ └── reset_counter_client.cpp ├── my_py_pkg │ ├── my_py_pkg │ │ ├── __init__.py │ │ ├── count_until_client.py │ │ ├── count_until_client_minimal.py │ │ ├── count_until_server.py │ │ ├── count_until_server_minimal.py │ │ ├── my_first_node.py │ │ ├── number_counter.py │ │ ├── number_publisher.py │ │ └── reset_counter_client.py │ ├── package.xml │ ├── resource │ │ └── my_py_pkg │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py ├── my_robot_interfaces │ ├── CMakeLists.txt │ ├── action │ │ └── CountUntil.action │ ├── msg │ │ └── HardwareStatus.msg │ ├── package.xml │ └── srv │ │ ├── ActivateTurtle.srv │ │ └── ResetCounter.srv ├── turtle_controller │ ├── package.xml │ ├── resource │ │ └── turtle_controller │ ├── setup.cfg │ ├── setup.py │ ├── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py │ └── turtle_controller │ │ ├── __init__.py │ │ └── turtle_controller.py └── turtle_controller_cpp │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ └── turtle_controller.cpp └── ch9 ├── my_cpp_pkg ├── CMakeLists.txt ├── package.xml └── src │ ├── count_until_client.cpp │ ├── count_until_client_minimal.cpp │ ├── count_until_server.cpp │ ├── count_until_server_minimal.cpp │ ├── my_first_node.cpp │ ├── number_counter.cpp │ ├── number_publisher.cpp │ └── reset_counter_client.cpp ├── my_py_pkg ├── my_py_pkg │ ├── __init__.py │ ├── count_until_client.py │ ├── count_until_client_minimal.py │ ├── count_until_server.py │ ├── count_until_server_minimal.py │ ├── my_first_node.py │ ├── number_counter.py │ ├── number_publisher.py │ └── reset_counter_client.py ├── package.xml ├── resource │ └── my_py_pkg ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── my_robot_bringup ├── CMakeLists.txt ├── config │ ├── number_params.yaml │ └── turtle_params.yaml ├── launch │ ├── number_app.launch.py │ ├── number_app.launch.xml │ ├── turtlesim_control.launch.py 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