├── .circleci ├── config.yml └── utils │ ├── clang-tidy-to-junit.py │ └── tidy.sh ├── .clang-format ├── .clang-tidy ├── .editorconfig ├── .gitattributes ├── .github └── PULL_REQUEST_TEMPLATE.md ├── .gitignore ├── .gitmodules ├── .pep8speaks.yaml ├── Dockerfile ├── Makefile ├── cmake └── ensure_submodules.cmake ├── documents ├── README.md ├── design │ ├── NM_ray_casting.md │ ├── README.md │ ├── actual_barrel_segmentation.md │ ├── add_noise_to_simulation.md │ ├── add_noise_to_simulation_2.md │ ├── barrel_detection.md │ ├── birds_eye_view_projection.md │ ├── cone_of_shame.md │ ├── fine_tuning_teb_parameters.md │ ├── firmware_refactor.md │ ├── low_performance_mode.md │ ├── mapping_refactor.md │ ├── navigation_state_machine │ │ ├── navigation_state_machine.gif │ │ └── navigation_state_machine.md │ ├── new_member_project.md │ ├── opencv_line_detection.md │ ├── slope_detection.md │ ├── swerve_module.md │ ├── testing_library.md │ └── waypoint_orientation.md └── research │ ├── README.md │ ├── barrel_detection.md │ ├── imu_issue │ ├── Imu_issue.png │ └── imu_issue.md │ └── iop.md ├── igvc.cmake ├── igvc_description ├── CMakeLists.txt ├── launch │ ├── robot_state_publisher.launch │ ├── simulationTesting.launch │ └── spawn_swervi.launch ├── package.xml └── urdf │ ├── gazebo.material │ ├── meshes │ ├── Sphere.dae │ ├── Wheel.dae │ ├── swervi_chassis.dae │ └── swervi_tire.dae │ ├── models │ ├── autonav │ │ ├── model.config │ │ └── model.sdf │ ├── autonav_mesh │ │ ├── meshes │ │ │ └── autonav_world.dae │ │ ├── model.config │ │ └── model.sdf │ ├── barrel │ │ ├── meshes │ │ │ ├── Barrel.png │ │ │ └── barrel.dae │ │ ├── model.config │ │ └── model.sdf │ ├── barrels_low │ │ ├── meshes │ │ │ ├── Barrel.png │ │ │ └── barrel.dae │ │ ├── model.config │ │ └── model.sdf │ ├── construction_barrel │ │ ├── model-1_2.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── grass_plane │ │ ├── model-1_2.sdf │ │ ├── model-1_4.sdf │ │ ├── model.config │ │ └── model.sdf │ ├── qualification │ │ ├── model.config │ │ └── model.sdf │ ├── ramp │ │ ├── meshes │ │ │ ├── RampTexture.png │ │ │ └── ramp.dae │ │ ├── model.config │ │ └── model.sdf │ ├── ramp_lane │ │ ├── model.config │ │ └── model.sdf │ └── sun │ │ ├── model.config │ │ └── model.sdf │ ├── swerve_module.urdf.xacro │ ├── swervi.urdf │ ├── swervi.urdf.xacro │ ├── swervi_prop.urdf.xacro │ ├── textures │ ├── autonav_course.png │ ├── ground_grass_texture.jpg │ └── qualification_course.png │ └── worlds │ ├── autonav.world │ ├── autonav_low.world │ ├── autonav_mesh.world │ ├── qual_low.world │ ├── qualification.world │ └── ramp_lane.world ├── igvc_gazebo ├── CMakeLists.txt ├── config │ ├── ramp_lane.csv │ ├── swervi_joint_control.yaml │ ├── swervi_joint_limits.yaml │ ├── waypoints.csv │ ├── waypoints_autonav_0.csv │ ├── waypoints_autonav_1.csv │ ├── waypoints_qual_0.csv │ ├── waypoints_qual_1.csv │ ├── waypoints_qual_10.csv │ ├── waypoints_qual_2.csv │ ├── waypoints_qual_3.csv │ ├── waypoints_qual_4.csv │ ├── waypoints_qual_5.csv │ ├── waypoints_qual_6.csv │ ├── waypoints_qual_7.csv │ ├── waypoints_qual_8.csv │ └── waypoints_qual_9.csv ├── launch │ ├── autonav.launch │ ├── autonav_low.launch │ ├── autonav_mesh.launch │ ├── qual_low.launch │ ├── qualification.launch │ ├── ramp_lane.launch │ ├── sim_detector.launch │ ├── simulation.launch │ ├── simulation_low.launch │ └── swervi_control.launch ├── nodes │ ├── ground_truth │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── magnetometer │ │ ├── CMakeLists.txt │ │ └── main.cpp │ ├── scan_to_pointcloud │ │ ├── CMakeLists.txt │ │ ├── scan_to_pointcloud.cpp │ │ └── scan_to_pointcloud.h │ ├── sim_color_detector │ │ ├── CMakeLists.txt │ │ ├── sim_color_detector.cpp │ │ └── sim_color_detector.hpp │ └── swerve_control │ │ ├── CMakeLists.txt │ │ ├── swerve_control.cpp │ │ └── swerve_control.h ├── package.xml └── scripts │ ├── drawTexture.py │ └── texture_mapping │ └── training_case_gen.py ├── igvc_msgs ├── CMakeLists.txt ├── action │ └── NavigateWaypoint.action ├── msg │ ├── action_path.msg │ ├── barrels.msg │ ├── igvc_path.msg │ ├── lights.msg │ ├── map.msg │ ├── system_stats.msg │ ├── trajectory.msg │ ├── trajectory_point.msg │ ├── velocity_pair.msg │ └── velocity_quad.msg ├── package.xml └── srv │ └── BackCircle.srv ├── igvc_navigation ├── CMakeLists.txt ├── GraphSearch │ ├── include │ │ ├── Graph.h │ │ ├── Node.h │ │ └── PriorityQueue.h │ └── src │ │ ├── Graph.cpp │ │ ├── Node.cpp │ │ └── PriorityQueue.cpp ├── cmake │ └── FindEigen3.cmake ├── config │ ├── back_circle.yaml │ ├── back_up_recovery.yaml │ ├── controllers.yaml │ ├── ekf_localization_node_params.yaml │ ├── global_costmap_params.yaml │ ├── gridmap_viz.yaml │ ├── local_costmap_params.yaml │ ├── planners.yaml │ ├── recovery_behaviors.yaml │ ├── swerve_drive.yaml │ └── teb_local_planner_params.yaml ├── include │ ├── igvc_navigation │ │ └── GPSUtils.h │ └── mapper │ │ └── probability_utils.h ├── launch │ ├── back_circle_server.launch │ ├── gridmap_viz.launch │ ├── localization.launch │ ├── mbf_navigation.launch │ ├── navigation_client.launch │ ├── navigation_server.launch │ ├── navigation_simulation.launch │ ├── set_waypoint_file_path.launch │ ├── state_estimator.launch │ ├── swerve_drive.launch │ └── swerve_wheel_odometry.launch ├── mainpage.dox ├── package.xml ├── setup.py └── src │ ├── back_circle │ ├── CMakeLists.txt │ ├── back_circle_server.cpp │ └── back_circle_server.h │ ├── back_up_recovery │ ├── CMakeLists.txt │ ├── back_up_recovery.cpp │ ├── back_up_recovery.h │ └── back_up_recovery.xml │ ├── mapper │ ├── CMakeLists.txt │ ├── back_circle_layer.cpp │ ├── back_circle_layer.h │ ├── camera_config.cpp │ ├── camera_config.h │ ├── costmap_plugins.xml │ ├── eigen_hash.h │ ├── gridmap_layer.cpp │ ├── gridmap_layer.h │ ├── lidar_config.cpp │ ├── lidar_config.h │ ├── lidar_layer.cpp │ ├── lidar_layer.h │ ├── lidar_layer_config.cpp │ ├── lidar_layer_config.h │ ├── line_layer.cpp │ ├── line_layer.h │ ├── line_layer_config.cpp │ ├── line_layer_config.h │ ├── map_config.cpp │ ├── map_config.h │ ├── projection_config.cpp │ ├── projection_config.h │ ├── rolling_layer.cpp │ ├── rolling_layer.h │ ├── rolling_layer_config.cpp │ ├── rolling_layer_config.h │ ├── traversability_layer.cpp │ ├── traversability_layer.h │ ├── traversability_layer_config.cpp │ ├── traversability_layer_config.h │ ├── unrolling_layer.cpp │ ├── unrolling_layer.h │ ├── unrolling_layer_config.cpp │ └── unrolling_layer_config.h │ ├── navigation_client │ ├── CMakeLists.txt │ ├── navigation_client.cpp │ └── navigation_client.h │ ├── navigation_server │ ├── CMakeLists.txt │ ├── navigation_server.cpp │ ├── navigation_server.h │ └── simple_action_client.h │ ├── state_estimator │ ├── CMakeLists.txt │ ├── StateEstimator.cpp │ ├── StateEstimator.h │ └── ThreadedQueue.hpp │ ├── swerve_drive │ ├── CMakeLists.txt │ ├── swerve_drive.cpp │ └── swerve_drive.h │ ├── swerve_wheel_odometer │ ├── CMakeLists.txt │ ├── swerve_odometer.cpp │ └── swerve_odometer.h │ └── tests │ ├── CMakeLists.txt │ ├── test │ └── test_mapper.test │ └── test_mapper.cpp ├── igvc_perception ├── CMakeLists.txt ├── config │ ├── elevation_mapping.yaml │ ├── ground_filter.yaml │ ├── pointcloud_filter.yaml │ ├── pointcloud_segmentation.yaml │ ├── slope_filter.yaml │ └── visualization │ │ ├── fused.yaml │ │ └── raw.yaml ├── include │ └── pointcloud_filter │ │ ├── actual_barrel_segmentation.h │ │ ├── back_filter │ │ ├── back_filter.h │ │ └── back_filter_config.h │ │ ├── bundle.h │ │ ├── fast_segment_filter │ │ ├── fast_segment_filter.h │ │ └── fast_segment_filter_config.h │ │ ├── filter.h │ │ ├── ground_filter │ │ ├── ground_filter.h │ │ └── ground_filter_config.h │ │ ├── point_types.h │ │ ├── pointcloud_filter.h │ │ ├── pointcloud_filter_config.h │ │ ├── radius_filter │ │ ├── radius_filter.h │ │ └── radius_filter_config.h │ │ ├── raycast_filter │ │ ├── raycast_filter.h │ │ └── raycast_filter_config.h │ │ └── tf_transform_filter │ │ └── tf_transform_filter.h ├── launch │ ├── actual_barrel_segmentation.launch │ ├── elevation_map_height.launch │ ├── elevation_map_visualization.launch │ ├── elevation_mapping.launch │ ├── multiclass_segmentation.launch │ ├── nn_viz.launch │ ├── pointcloud_filter.launch │ ├── ptseg.launch │ ├── slope_filter.launch │ └── vision.launch ├── mainpage.dox ├── package.xml ├── rviz │ ├── pt_filter_seg1.rviz │ └── pt_filter_seg2.rviz ├── setup.py └── src │ ├── cnn │ ├── __init__.py │ └── cnn.py │ ├── elevation_map_height_node │ ├── CMakeLists.txt │ ├── elevation_map_height_node.cpp │ └── elevation_map_height_node.h │ ├── multiclass_segmentation │ ├── .gitignore │ ├── README.md │ ├── __init__.py │ ├── config │ │ └── igvc.yaml │ ├── data_utils │ │ ├── __init__.py │ │ ├── data_loaders.py │ │ ├── make_dataset.py │ │ ├── segmentation_dataset.py │ │ └── split_data.py │ ├── example │ │ └── model_prediction.png │ ├── igvc_multiunet.ipynb │ ├── jupyter_notebook │ │ ├── UNetWithEfficientNet.ipynb │ │ └── UNetWithEfficientNet.pdf │ ├── multiclass_segmentation.py │ ├── requirements.txt │ ├── train.py │ └── train_utils │ │ ├── __init__.py │ │ ├── get_args.py │ │ ├── helper_operations.py │ │ └── save.py │ ├── nn_viz │ ├── __init__.py │ ├── models │ │ ├── __init__.py │ │ └── unet.py │ ├── nn_viz.py │ └── visualizer.py │ ├── pointcloud_filter │ ├── CMakeLists.txt │ ├── actual_barrel_segmentation │ │ └── actual_barrel_segmentation.cpp │ ├── back_filter │ │ ├── back_filter.cpp │ │ └── back_filter_config.cpp │ ├── bundle.cpp │ ├── fast_segment_filter │ │ ├── fast_segment_filter.cpp │ │ └── fast_segment_filter_config.cpp │ ├── ground_filter │ │ ├── ground_filter.cpp │ │ └── ground_filter_config.cpp │ ├── pointcloud_filter.cpp │ ├── pointcloud_filter_config.cpp │ ├── pointcloud_filter_node.cpp │ ├── radius_filter │ │ ├── radius_filter.cpp │ │ └── radius_filter_config.cpp │ ├── raycast_filter │ │ ├── raycast_filter.cpp │ │ └── raycast_filter_config.cpp │ └── tf_transform_filter │ │ └── tf_transform_filter.cpp │ ├── pointcloud_segmentation │ ├── CMakeLists.txt │ ├── README.md │ ├── clustering.cpp │ ├── clustering.h │ ├── example │ │ ├── example.png │ │ └── raw_lidar points.png │ ├── ground_filter.cpp │ ├── ground_filter.h │ └── utils.h │ ├── robot_pose_type_converter │ ├── CMakeLists.txt │ ├── robot_pose_type_converter.cpp │ └── robot_pose_type_converter.h │ ├── slope_filter │ ├── CMakeLists.txt │ ├── slope_filter.cpp │ └── slope_filter.h │ ├── tests │ └── CMakeLists.txt │ └── train_eval │ ├── IGVCDataset.py │ ├── README.md │ ├── __init__.py │ ├── cfg │ └── igvc.cfg │ ├── evaluate.py │ ├── igvc_unet.ipynb │ ├── models │ ├── __init__.py │ └── model.py │ ├── train.py │ ├── train_test_generation.py │ └── utils.py ├── igvc_platform ├── CMakeLists.txt ├── config │ └── analyzers.yaml ├── include │ └── igvc_platform │ │ └── nanopb │ │ ├── pb.h │ │ ├── pb_common.c │ │ ├── pb_common.h │ │ ├── pb_decode.c │ │ ├── pb_decode.h │ │ ├── pb_encode.c │ │ ├── pb_encode.h │ │ ├── protos │ │ ├── igvc.pb.c │ │ ├── igvc.pb.h │ │ └── swerve_commands.proto │ │ ├── swerve_commands.pb.c │ │ └── swerve_commands.pb.h ├── launch │ ├── calibrate_imus.launch │ ├── camera.launch │ ├── gps.launch │ ├── imu_bottom.launch │ ├── imu_top.launch │ ├── joystick_driver.launch │ ├── lidar.launch │ ├── motor_controller.launch │ ├── quaternion_to_rpy.launch │ ├── seg_cam.launch │ ├── sensors.launch │ ├── swerve_joystick_driver.launch │ └── velodyne_lidar.launch ├── mainpage.dox ├── package.xml ├── setup.py └── src │ ├── imu │ ├── CMakeLists.txt │ ├── SerialInterface.h │ ├── YostLabDriver.cpp │ ├── YostLabDriver.h │ └── yostlab_driver_node.cpp │ ├── motor_controller │ ├── CMakeLists.txt │ ├── motor_controller.cpp │ └── motor_controller.h │ ├── segmented_camera │ ├── CMakeLists.txt │ ├── segmented_camera_info_publisher.cpp │ └── segmented_camera_info_publisher.h │ ├── swerve_joystick_driver │ ├── CMakeLists.txt │ ├── swerve_joystick.cpp │ └── swerve_joystick.h │ ├── system_stats │ ├── CMakeLists.txt │ └── main.cpp │ └── tests │ ├── CMakeLists.txt │ ├── test │ ├── test_scan_to_pointcloud.test │ ├── test_segmented_camera.test │ ├── test_sim_color_detector.test │ ├── test_swerve_control.test │ ├── test_swerve_drive.test │ └── test_swerve_joystick_driver.test │ ├── test_scan_to_pointcloud.cpp │ ├── test_segmented_camera.cpp │ ├── test_sim_color_detector.cpp │ ├── test_swerve_control.cpp │ ├── test_swerve_drive.cpp │ └── test_swerve_joystick_driver.cpp ├── igvc_rviz_plugins ├── CMakeLists.txt ├── HOWTO.md ├── configs │ └── jessii_conf.rviz ├── include │ ├── igvc_rviz_plugins_old │ │ ├── bat_panel.h │ │ ├── eStop_panel.h │ │ ├── example_panel.h │ │ ├── launch_panel.h │ │ ├── my_thread.h │ │ ├── node_panel.h │ │ ├── num_button.h │ │ ├── sensor_panel.h │ │ ├── speedometer.h │ │ ├── time_panel.h │ │ └── waypoint_panel.h │ └── imu_viz │ │ ├── imu_display.h │ │ └── imu_visual.h ├── launch │ └── rviz.launch ├── package.xml ├── plugin_description.xml └── src │ ├── .editorconfig │ ├── igvc_rviz_plugins_old │ ├── CMakeLists.txt │ ├── bat_panel.cpp │ ├── eStop_panel.cpp │ ├── example_panel.cpp │ ├── launch_panel.cpp │ ├── my_thread.cpp │ ├── node_panel.cpp │ ├── num_button.cpp │ ├── sensor_panel.cpp │ ├── speedometer.cpp │ ├── time_panel.cpp │ └── waypoint_panel.cpp │ └── imu_viz │ ├── CMakeLists.txt │ ├── imu_display.cpp │ └── imu_visual.cpp ├── igvc_sandbox ├── CMakeLists.txt ├── camera_config │ ├── cam_center.yaml │ ├── cam_left.yaml │ ├── cam_right.yaml │ ├── usb_cam_center.yaml │ ├── usb_cam_left.yaml │ └── usb_cam_right.yaml ├── camera_pose_estimation │ ├── CMakeLists.txt │ └── solvepnp.cpp ├── detectors_config_gazebo.yaml ├── detectors_config_realworld.yaml ├── igvc.rules ├── install_udev_rules.sh ├── package.xml └── waypoints │ ├── carpark_back_and_forth.csv │ ├── comp │ ├── north.csv │ └── south.csv │ ├── comp_test.csv │ ├── gps_check.csv │ ├── johns_creek.csv │ ├── lane_following_test.csv │ ├── parking_lot_loop.csv │ ├── qualification.csv │ ├── u_test.csv │ └── waypoints.csv ├── igvc_utils ├── CMakeLists.txt ├── include │ ├── igvc_utils │ │ ├── EthernetSocket.h │ │ ├── NodeUtils.hpp │ │ ├── StringUtils.hpp │ │ ├── robot_control.h │ │ └── robot_state.h │ └── mocking_utils │ │ └── mock_subscriber.h ├── launch │ ├── compressed_to_raw.launch │ ├── imu_to_rpy.launch │ ├── mapper_bag.launch │ ├── rosbag.launch │ ├── speed_compare.launch │ └── system_stats.launch ├── mainpage.dox ├── package.xml ├── scripts │ └── merge_camera_dirs.py ├── setup.py └── src │ ├── ethernet │ ├── CMakeLists.txt │ └── EthernetSocket.cpp │ ├── pid_tester │ ├── CMakeLists.txt │ ├── encrecord.cpp │ └── main.cpp │ ├── quaternion_to_rpy │ ├── CMakeLists.txt │ └── main.cpp │ ├── state │ ├── CMakeLists.txt │ ├── robot_control.cpp │ └── robot_state.cpp │ └── system_stats │ ├── CMakeLists.txt │ ├── cpu_usage.hpp │ └── main.cpp ├── install_dependencies.sh ├── license.txt └── readme.md /.circleci/config.yml: -------------------------------------------------------------------------------- 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