├── .gitattributes ├── .gitconfig ├── .gitignore ├── .mailmap ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── cfg └── Dynamic.cfg ├── firmware ├── CPPLINT.cfg ├── depth │ ├── CPPLINT.cfg │ ├── lib │ │ └── readme.txt │ ├── platformio.ini │ └── src │ │ ├── MS5837.cpp │ │ ├── MS5837.h │ │ ├── Tca9545a.cpp │ │ ├── Tca9545a.h │ │ └── depth.ino ├── led │ ├── platformio.ini │ └── src │ │ └── led.ino ├── start_switch │ ├── CPPLINT.cfg │ ├── lib │ │ └── readme.txt │ ├── platformio.ini │ └── src │ │ ├── start_switch.ino │ │ └── time.cpp └── temperature_sensors │ ├── CPPLINT.cfg │ ├── platformio.ini │ └── src │ └── sensors.ino ├── launch ├── cameras.launch ├── cobalt.launch ├── example.launch ├── gamepad.launch ├── joystick.launch ├── localization.launch ├── record.launch ├── rviz.launch ├── sensors.launch └── undistortion.launch ├── models └── cobalt.urdf ├── package.xml ├── param ├── ai.yaml ├── ai_pool.yaml ├── cobalt.yaml ├── gamepad.yaml ├── joystick.yaml ├── left_camera.yaml ├── localization.yaml └── right_camera.yaml ├── rviz └── basic.rviz ├── scripts ├── echo_battery.py ├── echo_control.py ├── echo_thruster.py ├── histogram.py ├── sleepme.sh └── upsNode.py ├── src ├── CPPLINT.cfg ├── ai │ ├── SubscribeState.py │ ├── basic_buoy_follower.py │ ├── basic_states.py │ ├── blind_movement.py │ ├── buoy_states.py │ ├── control_wrapper.py │ ├── dice_states.py │ ├── enum.py │ ├── forward_until.py │ ├── gate_states.py │ ├── roulette_ai_visualizer.py │ ├── roulette_states.py │ ├── smach_QualGate.py │ ├── smach_ai.py │ ├── smach_blind_gate.py │ ├── smach_buoy.py │ ├── smach_dice.py │ ├── smach_gate.py │ ├── smach_nav_channel.py │ ├── smach_roulette.py │ ├── start_switch.py │ ├── util.py │ └── yaw_to_task.py ├── controllers │ ├── CMakeLists.txt │ ├── gamepad_control.cpp │ ├── gamepad_driver.cpp │ ├── gamepad_driver.hpp │ ├── joystick_control.cpp │ ├── joystick_driver.cpp │ ├── joystick_driver.hpp │ └── keyboard_control.cpp ├── examples │ ├── CMakeLists.txt │ ├── DynamicParameters.cpp │ ├── data_analyzer.cpp │ ├── fork_child.cpp │ ├── fork_parent.cpp │ ├── parameter.cpp │ ├── pub_sub.cpp │ ├── pub_sub.py │ ├── serial_publisher.cpp │ ├── serial_subscriber.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── pub_sub.test │ │ ├── serial_subscriber.test │ │ ├── test_pub_sub.cpp │ │ └── test_serial_subscriber.cpp ├── localization │ ├── CMakeLists.txt │ ├── filter_utilities.h │ ├── lin_accel_kalman_filter.cpp │ ├── lin_accel_kalman_filter.h │ ├── localization.cpp │ ├── localization_system.cpp │ ├── localization_system.hpp │ ├── obstacle_map.cpp │ ├── obstacle_map.h │ ├── particle_cloud_histogram.py │ ├── particle_filter.cpp │ ├── particle_filter.h │ ├── robosub_sensors.cpp │ ├── robosub_sensors.h │ └── test │ │ └── localizationHz.test ├── movement │ ├── CMakeLists.txt │ ├── control.cpp │ ├── control_system.cpp │ ├── control_system.h │ ├── maestro_thruster_driver.cpp │ ├── maestro_thruster_driver.h │ ├── rotation_engine.cpp │ ├── rotation_engine.hpp │ ├── test │ │ ├── CMakeLists.txt │ │ ├── control_system.test │ │ ├── test_control_keep_alive.cpp │ │ ├── test_control_system.cpp │ │ ├── test_thruster_maestro.cpp │ │ └── thruster_maestro.test │ └── thruster_maestro.cpp ├── rqt │ ├── resource │ │ └── robosub_logo.png │ ├── rqt_control │ │ ├── plugin.xml │ │ ├── resource │ │ │ └── Control.ui │ │ └── src │ │ │ └── rqt_control │ │ │ ├── __init__.py │ │ │ └── control.py │ └── rqt_syscheck │ │ ├── plugin.xml │ │ ├── resource │ │ └── SysCheck.ui │ │ └── src │ │ └── rqt_syscheck │ │ ├── __init__.py │ │ └── syscheck.py ├── sensors │ ├── CMakeLists.txt │ ├── PniTrax.cpp │ ├── PniTrax.h │ ├── depth.cpp │ ├── hydrophone_bridge.py │ ├── imu.cpp │ ├── pinger_bearing.cpp │ ├── sub_tf_broadcaster.py │ ├── trax_calibration.cpp │ └── trax_sensor.cpp ├── utility │ ├── CMakeLists.txt │ ├── ThrottledPublisher.hpp │ ├── ThrottledSubscriber.hpp │ ├── serial.cpp │ ├── serial.hpp │ ├── serial_testbench.cpp │ ├── spawn_process.cpp │ ├── 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