├── README.md ├── hector_gazebo ├── README.md ├── hector_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── hector_gazebo_plugins │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── cfg │ │ ├── GNSS.cfg │ │ └── SensorModel.cfg │ ├── include │ │ └── hector_gazebo_plugins │ │ │ ├── diffdrive_plugin_6w.h │ │ │ ├── diffdrive_plugin_multi_wheel.h │ │ │ ├── gazebo_ros_force_based_move.h │ │ │ ├── gazebo_ros_gps.h │ │ │ ├── gazebo_ros_imu.h │ │ │ ├── gazebo_ros_magnetic.h │ │ │ ├── gazebo_ros_sonar.h │ │ │ ├── reset_plugin.h │ │ │ ├── sensor_model.h │ │ │ ├── servo_plugin.h │ │ │ └── update_timer.h │ ├── package.xml │ ├── src │ │ ├── diffdrive_plugin_6w.cpp │ │ ├── diffdrive_plugin_multi_wheel.cpp │ │ ├── gazebo_ros_force_based_move.cpp │ │ ├── gazebo_ros_gps.cpp │ │ ├── gazebo_ros_imu.cpp │ │ ├── gazebo_ros_magnetic.cpp │ │ ├── gazebo_ros_sonar.cpp │ │ ├── reset_plugin.cpp │ │ └── servo_plugin.cpp │ └── srv │ │ └── SetBias.srv ├── hector_gazebo_thermal_camera │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_gazebo_thermal_camera │ │ │ └── gazebo_ros_thermal_camera.h │ ├── package.xml │ └── src │ │ ├── gazebo_ros_thermal_camera.cpp │ │ ├── gazebo_ros_thermal_camera_plugin.cpp │ │ └── gazebo_ros_thermal_depth_camera_plugin.cpp ├── hector_gazebo_worlds │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── Media │ │ ├── materials │ │ │ └── scripts │ │ │ │ └── hector_materials.material │ │ └── models │ │ │ ├── 120m_landscape_smooth_tri.dae │ │ │ ├── 120m_landscape_smooth_tri.jpg │ │ │ ├── drc_qual4_block.stl │ │ │ ├── sick_robot_day_2012_20m.dae │ │ │ ├── sick_robot_day_2014.dae │ │ │ ├── sick_robot_day_2014_inner_block.dae │ │ │ ├── sick_robot_day_2014_inner_block.stl │ │ │ ├── sick_robot_day_2014_inner_block_with_stations.dae │ │ │ ├── sick_robot_day_2014_ring.dae │ │ │ ├── sick_robot_day_2014_ring.stl │ │ │ ├── sick_robot_day_2014_target.dae │ │ │ ├── sick_robot_day_2014_target.stl │ │ │ ├── sick_robot_day_2014_target_station_complete_0.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_1.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_2.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_3.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_4.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_5.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_6.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_7.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_8.dae │ │ │ ├── sick_robot_day_2014_target_station_complete_9.dae │ │ │ ├── sick_robot_day_2014_with_stations.dae │ │ │ ├── sick_robot_panel.stl │ │ │ ├── sick_robot_panel_0.dae │ │ │ ├── sick_robot_panel_0.png │ │ │ ├── sick_robot_panel_1.dae │ │ │ ├── sick_robot_panel_1.png │ │ │ ├── sick_robot_panel_2.dae │ │ │ ├── sick_robot_panel_2.png │ │ │ ├── sick_robot_panel_3.dae │ │ │ ├── sick_robot_panel_3.png │ │ │ ├── sick_robot_panel_4.dae │ │ │ ├── sick_robot_panel_4.png │ │ │ ├── sick_robot_panel_5.dae │ │ │ ├── sick_robot_panel_5.png │ │ │ ├── sick_robot_panel_6.dae │ │ │ ├── sick_robot_panel_6.png │ │ │ ├── sick_robot_panel_7.dae │ │ │ ├── sick_robot_panel_7.png │ │ │ ├── sick_robot_panel_8.dae │ │ │ ├── sick_robot_panel_8.png │ │ │ ├── sick_robot_panel_9.dae │ │ │ ├── sick_robot_panel_9.png │ │ │ ├── sick_target.png │ │ │ └── small_indoor_scenario.dae │ ├── launch │ │ ├── drc_final_qual_4_step_block.launch │ │ ├── rolling_landscape_120m.launch │ │ ├── sick_robot_day_2012_20m.launch │ │ ├── sick_robot_day_2014.launch │ │ ├── small_indoor_scenario.launch │ │ ├── start.launch │ │ └── willow_garage.launch │ ├── maps │ │ ├── small_indoor_scenario_edited_map_hector_mapping.pgm │ │ └── small_indoor_scenario_edited_map_hector_mapping.yaml │ ├── package.xml │ └── worlds │ │ ├── drc_final_qual_4_step_block.world │ │ ├── rolling_landscape_120m.world │ │ ├── sick_robot_day_2012_20m.world │ │ ├── sick_robot_day_2014.world │ │ ├── small_indoor_scenario.world │ │ └── willow_garage.world └── hector_sensors_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── hector_localization ├── README.md ├── hector_localization │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── hector_pose_estimation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── hector_pose_estimation_nodelets.xml │ ├── include │ │ └── hector_pose_estimation │ │ │ └── pose_estimation_node.h │ ├── launch │ │ └── hector_pose_estimation.launch │ ├── package.xml │ ├── rviz_cfg │ │ └── hector_pose_estimation.rviz │ └── src │ │ ├── main.cpp │ │ ├── pose_estimation_node.cpp │ │ └── pose_estimation_nodelet.cpp ├── hector_pose_estimation_core │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_pose_estimation │ │ │ ├── Eigen │ │ │ ├── MatrixBaseAddons.h │ │ │ └── QuaternionBaseAddons.h │ │ │ ├── collection.h │ │ │ ├── filter.h │ │ │ ├── filter │ │ │ ├── ekf.h │ │ │ ├── ekf.inl │ │ │ └── set_filter.h │ │ │ ├── global_reference.h │ │ │ ├── input.h │ │ │ ├── matrix.h │ │ │ ├── matrix_config.h.in │ │ │ ├── measurement.h │ │ │ ├── measurement.inl │ │ │ ├── measurement_model.h │ │ │ ├── measurement_update.h │ │ │ ├── measurements │ │ │ ├── baro.h │ │ │ ├── gps.h │ │ │ ├── gravity.h │ │ │ ├── heading.h │ │ │ ├── height.h │ │ │ ├── magnetic.h │ │ │ ├── poseupdate.h │ │ │ ├── rate.h │ │ │ └── zerorate.h │ │ │ ├── model.h │ │ │ ├── parameters.h │ │ │ ├── pose_estimation.h │ │ │ ├── queue.h │ │ │ ├── ros │ │ │ └── parameters.h │ │ │ ├── state.h │ │ │ ├── state.inl │ │ │ ├── substate.h │ │ │ ├── system.h │ │ │ ├── system.inl │ │ │ ├── system │ │ │ ├── generic_quaternion_system_model.h │ │ │ ├── ground_vehicle_model.h │ │ │ ├── imu_input.h │ │ │ └── imu_model.h │ │ │ ├── system_model.h │ │ │ ├── system_model.inl │ │ │ └── types.h │ ├── package.xml │ └── src │ │ ├── filter.cpp │ │ ├── filter │ │ └── ekf.cpp │ │ ├── global_reference.cpp │ │ ├── measurement.cpp │ │ ├── measurements │ │ ├── baro.cpp │ │ ├── gps.cpp │ │ ├── gravity.cpp │ │ ├── heading.cpp │ │ ├── height.cpp │ │ ├── magnetic.cpp │ │ ├── poseupdate.cpp │ │ ├── rate.cpp │ │ └── zerorate.cpp │ │ ├── parameters.cpp │ │ ├── pose_estimation.cpp │ │ ├── state.cpp │ │ ├── system.cpp │ │ ├── system │ │ ├── generic_quaternion_system_model.cpp │ │ ├── ground_vehicle_model.cpp │ │ └── imu_model.cpp │ │ └── types.cpp ├── message_to_tf │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── message_to_tf.cpp └── rtt_hector_pose_estimation │ ├── CATKIN_IGNORE │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ └── hector_pose_estimation │ │ └── rtt │ │ └── taskcontext.h │ ├── package.xml │ └── src │ ├── parameters.cpp │ ├── parameters.h │ ├── services.cpp │ ├── services.h │ └── taskcontext.cpp ├── hector_models ├── README.md ├── hector_components_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── meshes │ │ ├── checkerboard │ │ │ ├── checkerboard.dae │ │ │ ├── checkerboard.png │ │ │ └── checkerboard.stl │ │ ├── hector_multisensor_head │ │ │ ├── multisensor_head.stl │ │ │ └── multisensor_head_collision.stl │ │ └── vision_box │ │ │ ├── HectorDarmstadt_TU_Darmstadt_combined_with_background_cut_256.png │ │ │ ├── hector1_top_box.dae │ │ │ ├── hector1_top_box.stl │ │ │ ├── hector1_top_boxTEST_SELF_FILTER.dae │ │ │ ├── hector2_top_box.dae │ │ │ ├── hector2_top_box.stl │ │ │ ├── hector2_top_boxTEST_SELF_FILTER.dae │ │ │ └── ps_eye_simple.dae │ ├── package.xml │ └── urdf │ │ ├── checkerboard.urdf.xacro │ │ ├── hector_multisensor_head.urdf.xacro │ │ ├── spinning_hokuyo_utm30lx.urdf.xacro │ │ ├── spinning_lidar_mount.urdf.xacro │ │ ├── vision_box_common.gazebo.xacro │ │ ├── vision_box_common.urdf.xacro │ │ ├── vision_box_common_dimensions.urdf.xacro │ │ ├── vision_box_dimensions_hector1.urdf.xacro │ │ ├── vision_box_dimensions_hector2.urdf.xacro │ │ ├── vision_box_hector1_addons.urdf.xacro │ │ └── vision_box_hector2_addons.urdf.xacro ├── hector_models.rosinstall ├── hector_models │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── hector_sensors_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── meshes │ │ ├── asus_camera │ │ │ ├── asus_camera_simple.dae │ │ │ └── asus_camera_simple.stl │ │ ├── hokuyo_utm30lx │ │ │ ├── blender │ │ │ │ └── hokuyo_utm30lx.blend │ │ │ ├── hokuyo_utm_30lx.dae │ │ │ ├── hokuyo_utm_30lx.stl │ │ │ └── hokuyo_utm_30lxTEST_SELF_FILTER.dae │ │ ├── kinect_camera │ │ │ ├── kinect_camera_simple.dae │ │ │ └── kinect_camera_simple.stl │ │ ├── sonar_sensor │ │ │ ├── blender │ │ │ │ └── max_sonar_ez4.blend │ │ │ └── max_sonar_ez4.dae │ │ └── thermaleye_camera │ │ │ ├── thermaleye_camera_hector_v1.dae │ │ │ ├── thermaleye_camera_hector_v1.stl │ │ │ ├── thermaleye_camera_hector_v2.dae │ │ │ └── thermaleye_camera_hector_v2.stl │ ├── package.xml │ └── urdf │ │ ├── asus_camera.urdf.xacro │ │ ├── flir_a35_camera.urdf.xacro │ │ ├── generic_camera.urdf.xacro │ │ ├── generic_stereo_camera.urdf.xacro │ │ ├── generic_thermal_camera.urdf.xacro │ │ ├── generic_zoom_camera.urdf.xacro │ │ ├── hokuyo_utm30lx.urdf.xacro │ │ ├── kinect_camera.urdf.xacro │ │ ├── realsense_camera.urdf.xacro │ │ ├── sonar_sensor.urdf.xacro │ │ └── thermaleye_camera.urdf.xacro └── hector_xacro_tools │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── urdf │ ├── inertia_tensors.urdf.xacro │ ├── joint_macros.urdf.xacro │ └── sensor_macros.urdf.xacro ├── hector_quadrotor ├── .gitignore ├── hector_quadrotor.rosinstall ├── hector_quadrotor │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── hector_quadrotor_controller │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_quadrotor_controller │ │ │ ├── handles.h │ │ │ ├── pid.h │ │ │ └── quadrotor_interface.h │ ├── launch │ │ └── controller.launch │ ├── package.xml │ ├── params │ │ └── controller.yaml │ ├── plugin.xml │ └── src │ │ ├── motor_controller.cpp │ │ ├── pid.cpp │ │ ├── pose_controller.cpp │ │ ├── quadrotor_interface.cpp │ │ └── twist_controller.cpp ├── hector_quadrotor_controller_gazebo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_quadrotor_controller │ │ │ └── quadrotor_hardware_gazebo.h │ ├── package.xml │ ├── quadrotor_controller_gazebo.xml │ └── src │ │ └── quadrotor_hardware_gazebo.cpp ├── hector_quadrotor_demo │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── indoor_slam_gazebo.launch │ │ ├── outdoor_flight_gazebo.launch │ │ ├── outdoor_flight_gazebo_no_rviz.launch │ │ ├── put_robot_in_world.launch │ │ ├── start_indoor_world.launch │ │ ├── start_outdoor_world.launch │ │ └── two_drones_empty.launch │ ├── package.xml │ └── rviz_cfg │ │ ├── indoor_slam.rviz │ │ └── outdoor_flight.rviz ├── hector_quadrotor_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── xacrodisplay_quadrotor_base.launch │ ├── meshes │ │ └── quadrotor │ │ │ ├── blender │ │ │ └── quadrotor_base.blend │ │ │ ├── quadrotor_base.dae │ │ │ └── quadrotor_base.stl │ ├── package.xml │ └── urdf │ │ ├── quadrotor.gazebo.xacro │ │ ├── quadrotor.urdf.xacro │ │ ├── quadrotor_base.urdf.xacro │ │ ├── quadrotor_downward_cam.gazebo.xacro │ │ ├── quadrotor_downward_cam.urdf.xacro │ │ ├── quadrotor_hokuyo_utm30lx.gazebo.xacro │ │ ├── quadrotor_hokuyo_utm30lx.urdf.xacro │ │ ├── quadrotor_with_asus.gazebo.xacro │ │ ├── quadrotor_with_asus.urdf.xacro │ │ ├── quadrotor_with_asus_with_hokuyo_utm30lx.gazebo.xacro │ │ ├── quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro │ │ ├── quadrotor_with_cam.gazebo.xacro │ │ ├── quadrotor_with_cam.urdf.xacro │ │ ├── quadrotor_with_kinect.gazebo.xacro │ │ └── quadrotor_with_kinect.urdf.xacro ├── hector_quadrotor_gazebo │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── camera_launch.launch │ │ ├── quadrotor_empty_world.launch │ │ ├── spawn_quadrotor.launch │ │ ├── spawn_quadrotor_slam.launch │ │ ├── spawn_quadrotor_with_asus.launch │ │ ├── spawn_quadrotor_with_asus_with_laser.launch │ │ ├── spawn_quadrotor_with_cam.launch │ │ ├── spawn_quadrotor_with_downward_cam.launch │ │ ├── spawn_quadrotor_with_kinect.launch │ │ ├── spawn_quadrotor_with_laser.launch │ │ └── spawn_two_quadrotors.launch │ ├── package.xml │ └── urdf │ │ ├── CMakeLists.txt │ │ ├── quadrotor_aerodynamics.gazebo.xacro │ │ ├── quadrotor_controller.gazebo.xacro │ │ ├── quadrotor_plugins.gazebo.xacro.in │ │ ├── quadrotor_propulsion.gazebo.xacro │ │ └── quadrotor_sensors.gazebo.xacro ├── hector_quadrotor_gazebo_plugins │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_quadrotor_gazebo_plugins │ │ │ ├── gazebo_quadrotor_aerodynamics.h │ │ │ ├── gazebo_quadrotor_propulsion.h │ │ │ ├── gazebo_quadrotor_simple_controller.h │ │ │ └── gazebo_ros_baro.h │ ├── package.xml │ └── src │ │ ├── gazebo_quadrotor_aerodynamics.cpp │ │ ├── gazebo_quadrotor_propulsion.cpp │ │ ├── gazebo_quadrotor_simple_controller.cpp │ │ └── gazebo_ros_baro.cpp ├── hector_quadrotor_model │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_quadrotor_model │ │ │ ├── helpers.h │ │ │ ├── quadrotor_aerodynamics.h │ │ │ └── quadrotor_propulsion.h │ ├── matlab │ │ ├── CMakeLists.txt │ │ ├── compile_all.m │ │ ├── dummy.c │ │ ├── motorspeed.m │ │ ├── parameter_QK_propulsion.m │ │ ├── quadrotorDrag.m │ │ └── quadrotorPropulsion.m │ ├── package.xml │ ├── param │ │ ├── quadrotor_aerodynamics.yaml │ │ ├── robbe_2827-34_epp1045.yaml │ │ └── robbe_2827-34_epp1245.yaml │ └── src │ │ ├── matlab_helpers.h │ │ ├── quadrotor_aerodynamics.cpp │ │ └── quadrotor_propulsion.cpp ├── hector_quadrotor_pose_estimation │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── hector_quadrotor_pose_estimation_nodelets.xml │ ├── include │ │ └── hector_quadrotor_pose_estimation │ │ │ └── pose_estimation_node.h │ ├── package.xml │ ├── params │ │ └── simulation.yaml │ └── src │ │ ├── main.cpp │ │ ├── pose_estimation_node.cpp │ │ └── pose_estimation_nodelet.cpp ├── hector_quadrotor_teleop │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ ├── logitech_gamepad.launch │ │ └── xbox_controller.launch │ ├── package.xml │ └── src │ │ └── quadrotor_teleop.cpp ├── hector_uav_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ │ └── hector_uav_msgs │ │ │ ├── Altimeter │ │ │ └── pressure_height.h │ │ │ ├── ControlSource.h │ │ │ └── RC │ │ │ └── functions.h │ ├── msg │ │ ├── Altimeter.msg │ │ ├── AttitudeCommand.msg │ │ ├── Compass.msg │ │ ├── ControllerState.msg │ │ ├── HeadingCommand.msg │ │ ├── HeightCommand.msg │ │ ├── MotorCommand.msg │ │ ├── MotorPWM.msg │ │ ├── MotorStatus.msg │ │ ├── PositionXYCommand.msg │ │ ├── RC.msg │ │ ├── RawImu.msg │ │ ├── RawMagnetic.msg │ │ ├── RawRC.msg │ │ ├── RuddersCommand.msg │ │ ├── ServoCommand.msg │ │ ├── Supply.msg │ │ ├── ThrustCommand.msg │ │ ├── VelocityXYCommand.msg │ │ ├── VelocityZCommand.msg │ │ └── YawrateCommand.msg │ └── package.xml └── tutorials.rosinstall ├── hector_ui ├── CMakeLists.txt ├── package.xml └── src │ ├── ui_hector_quad.py │ ├── ui_hector_quad_follower.py │ └── ui_hector_quad_leader.py ├── imgs ├── UI.png ├── 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